yyy

2 files changed, 173 insertions, 173 deletions

diff --git a/lib/motors/motors.cpp b/lib/motors/motors.cpp
index 68c633d..ba9f828 100644
--- a/lib/motors/motors.cpp
+++ b/lib/motors/motors.cpp
@@ -1,146 +1,146 @@
-#include <Arduino.h>
-#include "settings.h"
-#include "motors.h"
-
-#define LEFT_CHANNEL 4
-#define RIGHT_CHANNEL 5
-
-#define MOTOR_FREQ 5000
-#define MOTOR_RES 10
-
-int MOTORS::scaleSpeed(int speed)
-{
-    return map(speed, 0, 100, 0, (1 << MOTOR_RES) - 1);
-}
-
-MOTORS::MOTORS()
-{
-}
-
-void MOTORS::stop()
-{
-    ledcWrite(LEFT_CHANNEL, 0);
-    ledcWrite(RIGHT_CHANNEL, 0);
-}
-
-void MOTORS::leftStop()
-{
-    ledcWrite(LEFT_CHANNEL, 0);
-}
-
-void MOTORS::rightStop()
-{
-    ledcWrite(RIGHT_CHANNEL, 0);
-}
-
-void MOTORS::init()
-{
-    ledcSetup(RIGHT_CHANNEL, MOTOR_FREQ, MOTOR_RES);
-    ledcAttachPin(EN34, RIGHT_CHANNEL);
-
-    ledcSetup(LEFT_CHANNEL, MOTOR_FREQ, MOTOR_RES);
-    ledcAttachPin(EN12, LEFT_CHANNEL);
-
-    pinMode(IN1, OUTPUT);
-    pinMode(IN2, OUTPUT);
-    pinMode(IN3, OUTPUT);
-    pinMode(IN4, OUTPUT);
-}
-
-void MOTORS::leftForward(int speed, int duration)
-{
-    digitalWrite(IN1, HIGH);
-    digitalWrite(IN2, LOW);
-    ledcWrite(LEFT_CHANNEL, scaleSpeed(speed));
-
-    if (duration > 0)
-    {
-        delay(duration);
-        stop();
-    }
-}
-
-void MOTORS::leftBackward(int speed, int duration)
-{
-    digitalWrite(IN1, LOW);
-    digitalWrite(IN2, HIGH);
-    ledcWrite(LEFT_CHANNEL, scaleSpeed(speed));
-
-    if (duration > 0)
-    {
-        delay(duration);
-        stop();
-    }
-}
-
-void MOTORS::rightForward(int speed, int duration)
-{
-    digitalWrite(IN3, HIGH);
-    digitalWrite(IN4, LOW);
-    ledcWrite(RIGHT_CHANNEL, scaleSpeed(speed));
-    ledcWrite(LEFT_CHANNEL, 0);
-
-    if (duration > 0)
-    {
-        delay(duration);
-        stop();
-    }
-}
-
-void MOTORS::rightBackward(int speed, int duration)
-{
-    digitalWrite(IN3, LOW);
-    digitalWrite(IN4, HIGH);
-    ledcWrite(RIGHT_CHANNEL, scaleSpeed(speed));
-    ledcWrite(LEFT_CHANNEL, 0);
-
-    if (duration > 0)
-    {
-        delay(duration);
-        stop();
-    }
-}
-
-void MOTORS::forward(int speed, int duration)
-{
-    rightForward(speed);
-    leftForward(speed);
-    if (duration > 0)
-    {
-        delay(duration);
-        stop();
-    }
-}
-
-void MOTORS::backward(int speed, int duration)
-{
-    rightBackward(speed);
-    leftBackward(speed);
-    if (duration > 0)
-    {
-        delay(duration);
-        stop();
-    }
-}
-
-void MOTORS::rightTurn(int speed, int duration)
-{
-    rightForward(speed);
-    leftBackward(speed);
-    if (duration > 0)
-    {
-        delay(duration);
-        stop();
-    }
-}
-
-void MOTORS::leftTurn(int speed, int duration)
-{
-    rightBackward(speed);
-    leftForward(speed);
-    if (duration > 0)
-    {
-        delay(duration);
-        stop();
-    }
+#include <Arduino.h>

+#include "settings.h"

+#include "motors.h"

+

+#define LEFT_CHANNEL 4

+#define RIGHT_CHANNEL 5

+

+#define MOTOR_FREQ 5000

+#define MOTOR_RES 10

+

+int MOTORS::scaleSpeed(int speed)

+{

+    return map(speed, 0, 100, 0, (1 << MOTOR_RES) - 1);

+}

+

+MOTORS::MOTORS()

+{

+}

+

+void MOTORS::stop()

+{

+    ledcWrite(LEFT_CHANNEL, 0);

+    ledcWrite(RIGHT_CHANNEL, 0);

+}

+

+void MOTORS::leftStop()

+{

+    ledcWrite(LEFT_CHANNEL, 0);

+}

+

+void MOTORS::rightStop()

+{

+    ledcWrite(RIGHT_CHANNEL, 0);

+}

+

+void MOTORS::init()

+{

+    ledcSetup(RIGHT_CHANNEL, MOTOR_FREQ, MOTOR_RES);

+    ledcAttachPin(EN34, RIGHT_CHANNEL);

+

+    ledcSetup(LEFT_CHANNEL, MOTOR_FREQ, MOTOR_RES);

+    ledcAttachPin(EN12, LEFT_CHANNEL);

+

+    pinMode(IN1, OUTPUT);

+    pinMode(IN2, OUTPUT);

+    pinMode(IN3, OUTPUT);

+    pinMode(IN4, OUTPUT);

+}

+

+void MOTORS::leftForward(int speed, int duration)

+{

+    digitalWrite(IN1, HIGH);

+    digitalWrite(IN2, LOW);

+    ledcWrite(LEFT_CHANNEL, scaleSpeed(speed));

+

+    if (duration > 0)

+    {

+        delay(duration);

+        stop();

+    }

+}

+

+void MOTORS::leftBackward(int speed, int duration)

+{

+    digitalWrite(IN1, LOW);

+    digitalWrite(IN2, HIGH);

+    ledcWrite(LEFT_CHANNEL, scaleSpeed(speed));

+

+    if (duration > 0)

+    {

+        delay(duration);

+        stop();

+    }

+}

+

+void MOTORS::rightForward(int speed, int duration)

+{

+    digitalWrite(IN3, HIGH);

+    digitalWrite(IN4, LOW);

+    ledcWrite(RIGHT_CHANNEL, scaleSpeed(speed));

+    ledcWrite(LEFT_CHANNEL, 0);

+

+    if (duration > 0)

+    {

+        delay(duration);

+        stop();

+    }

+}

+

+void MOTORS::rightBackward(int speed, int duration)

+{

+    digitalWrite(IN3, LOW);

+    digitalWrite(IN4, HIGH);

+    ledcWrite(RIGHT_CHANNEL, scaleSpeed(speed));

+    ledcWrite(LEFT_CHANNEL, 0);

+

+    if (duration > 0)

+    {

+        delay(duration);

+        stop();

+    }

+}

+

+void MOTORS::forward(int speed, int duration)

+{

+    rightForward(speed);

+    leftForward(speed);

+    if (duration > 0)

+    {

+        delay(duration);

+        stop();

+    }

+}

+

+void MOTORS::backward(int speed, int duration)

+{

+    rightBackward(speed);

+    leftBackward(speed);

+    if (duration > 0)

+    {

+        delay(duration);

+        stop();

+    }

+}

+

+void MOTORS::rightTurn(int speed, int duration)

+{

+    rightForward(speed);

+    leftBackward(speed);

+    if (duration > 0)

+    {

+        delay(duration);

+        stop();

+    }

+}

+

+void MOTORS::leftTurn(int speed, int duration)

+{

+    rightBackward(speed);

+    leftForward(speed);

+    if (duration > 0)

+    {

+        delay(duration);

+        stop();

+    }

 }
\ No newline at end of file
diff --git a/lib/motors/motors.h b/lib/motors/motors.h
index bcba09c..b7cc7f1 100644
--- a/lib/motors/motors.h
+++ b/lib/motors/motors.h
@@ -1,29 +1,29 @@
-#include <Arduino.h>
-#include "settings.h"
-
-#pragma once
-
-class MOTORS
-{
-public:
-    MOTORS();
-    void init();
-
-    void forward(int speed, int duration = 0);
-    void backward(int speed, int duration = 0);
-
-    void leftForward(int speed, int duration = 0);
-    void leftBackward(int speed, int duration = 0);
-    void rightForward(int speed, int duration = 0);
-    void rightBackward(int speed, int duration = 0);
-
-    void leftTurn(int speed, int duration = 0);
-    void rightTurn(int speed, int duration = 0);
-
-    void leftStop();
-    void rightStop();
-    void stop();
-
-private:
-    int scaleSpeed(int speed);
+#include <Arduino.h>

+#include "settings.h"

+

+#pragma once

+

+class MOTORS

+{

+public:

+    MOTORS();

+    void init();

+

+    void forward(int speed, int duration = 0);

+    void backward(int speed, int duration = 0);

+

+    void leftForward(int speed, int duration = 0);

+    void leftBackward(int speed, int duration = 0);

+    void rightForward(int speed, int duration = 0);

+    void rightBackward(int speed, int duration = 0);

+

+    void leftTurn(int speed, int duration = 0);

+    void rightTurn(int speed, int duration = 0);

+

+    void leftStop();

+    void rightStop();

+    void stop();

+

+private:

+    int scaleSpeed(int speed);

 };
\ No newline at end of file