summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--include/settings.h21
-rw-r--r--lib/buzzer/buzzer.cpp8
-rw-r--r--lib/buzzer/buzzer.h1
-rw-r--r--lib/motors/motors.cpp146
-rw-r--r--lib/motors/motors.h29
-rw-r--r--lib/rgb/rgb.cpp6
-rw-r--r--lib/rgb/rgb.h1
-rw-r--r--src/main.cpp31
8 files changed, 234 insertions, 9 deletions
diff --git a/include/settings.h b/include/settings.h
index 886513c..aae29e6 100644
--- a/include/settings.h
+++ b/include/settings.h
@@ -14,11 +14,22 @@ const int GREEN_PIN = 4;
const int BLUE_PIN = 6;
// MOTORS
-// const int IN1 = D7;
-// const int IN2 = D8;
+const int EN12 = 40;
+const int IN1 = 38;
+const int IN2 = 36;
+
+
+const int EN34 = 13;
+const int IN3 = 37;
+const int IN4 = 35;
+
+
+
+
+// const int EN34 = 13;
+// const int IN3 = 7;
+// const int IN4 = 5;
-// const int IN3 = D3;
-// const int IN4 = D4;
// BUZZER
-const int BUZZER_PIN = 13;
+const int BUZZER_PIN = 3;
diff --git a/lib/buzzer/buzzer.cpp b/lib/buzzer/buzzer.cpp
index a83ec22..df67ac7 100644
--- a/lib/buzzer/buzzer.cpp
+++ b/lib/buzzer/buzzer.cpp
@@ -4,10 +4,15 @@
#define BUZZER_CHANNEL 3
#define BUZZER_RESOLUTION 8
+#define BUZZER_FREQ 2000
BUZZER::BUZZER()
{
- ledcSetup(BUZZER_CHANNEL, 2000, BUZZER_RESOLUTION);
+}
+
+void BUZZER::init()
+{
+ ledcSetup(BUZZER_CHANNEL, BUZZER_FREQ, BUZZER_RESOLUTION);
ledcAttachPin(BUZZER_PIN, BUZZER_CHANNEL);
}
@@ -23,7 +28,6 @@ void BUZZER::playTone(uint16_t frequency, uint32_t duration)
void BUZZER::playMelody(const uint16_t melody[][2], size_t length)
{
-
for (size_t i = 0; i < length; i++)
{
playTone(melody[i][0], melody[i][1]);
diff --git a/lib/buzzer/buzzer.h b/lib/buzzer/buzzer.h
index f71a90a..717a79c 100644
--- a/lib/buzzer/buzzer.h
+++ b/lib/buzzer/buzzer.h
@@ -8,6 +8,7 @@ class BUZZER
public:
BUZZER();
+ void init();
void playTone(uint16_t frequency, uint32_t duration = 0);
void stop();
void playMelody(const uint16_t melody[][2], size_t length);
diff --git a/lib/motors/motors.cpp b/lib/motors/motors.cpp
new file mode 100644
index 0000000..d0e71b4
--- /dev/null
+++ b/lib/motors/motors.cpp
@@ -0,0 +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::leftTurn(int speed, int duration)
+{
+ rightForward(speed);
+ leftBackward(speed);
+ if (duration > 0)
+ {
+ delay(duration);
+ stop();
+ }
+}
+
+void MOTORS::rightTurn(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
new file mode 100644
index 0000000..bcba09c
--- /dev/null
+++ b/lib/motors/motors.h
@@ -0,0 +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);
+}; \ No newline at end of file
diff --git a/lib/rgb/rgb.cpp b/lib/rgb/rgb.cpp
index 249e7f0..e66d264 100644
--- a/lib/rgb/rgb.cpp
+++ b/lib/rgb/rgb.cpp
@@ -14,8 +14,12 @@ int RGB::scaleColor(uint8_t val)
{
return map(val, 0, 255, 0, (1 << PWM_RES) - 1);
}
-
RGB::RGB()
+ : currentR(0), currentG(0), currentB(0)
+{
+}
+
+void RGB::init()
{
ledcSetup(RED_CHANNEL, PWM_FREQ, PWM_RES);
ledcAttachPin(RED_PIN, RED_CHANNEL);
diff --git a/lib/rgb/rgb.h b/lib/rgb/rgb.h
index 3850f0a..fddeae8 100644
--- a/lib/rgb/rgb.h
+++ b/lib/rgb/rgb.h
@@ -11,6 +11,7 @@ public:
uint8_t currentB;
RGB();
+ void init();
void setColorRGB(uint8_t red, uint8_t green, uint8_t blue, bool saveColor);
void fadeColor(uint8_t red, uint8_t green, uint8_t blue, int duration);
void blink(int cycles, int interval);
diff --git a/src/main.cpp b/src/main.cpp
index 736b949..84b5b85 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -3,17 +3,46 @@
#include "rgb.h"
#include "oled.h"
#include "Buzzer.h"
+#include "motors.h"
RGB rgb;
BUZZER buzzer;
+MOTORS motors; // speed 80 is prefered, because of higher input voltage (5V -> 3.7V after H-bridge), motor is rated for 3V
+ // in practice, speed below 70 dosn't even work.
void setup()
-{}
+{
+ rgb.init();
+ buzzer.init();
+ motors.init();
+
+}
void loop()
{
+ rgb.setColorRGB(0, 255, 0, true);
+ motors.forward(100, 2000);
+ delay(1000);
+ rgb.setColorRGB(255, 0, 0, true);
+ motors.backward(100, 2000);
+ delay(1000);
+ rgb.setColorRGB(0, 255, 255, true);
+ motors.leftTurn(100, 2000);
+ delay(1000);
+ rgb.setColorRGB(255, 255, 0, true);
+ motors.rightTurn(100, 2000);
+ delay(1000);
+
+ motors.rightForward(100, 2000);
+ delay(1000);
+ motors.rightBackward(100, 2000);
+ delay(1000);
+ motors.leftForward(100, 2000);
+ delay(1000);
+ motors.leftBackward(100, 2000);
+ delay(1000);
// buzzer.playMelody(happy, 8);
// delay(1000);
generated by cgit v1.2.3 (git 2.46.0) at 2026-06-10 23:04:20 +0000