diff options
Diffstat (limited to 'lib')
| -rw-r--r-- | lib/buzzer/buzzer.cpp | 8 | ||||
| -rw-r--r-- | lib/buzzer/buzzer.h | 1 | ||||
| -rw-r--r-- | lib/motors/motors.cpp | 146 | ||||
| -rw-r--r-- | lib/motors/motors.h | 29 | ||||
| -rw-r--r-- | lib/rgb/rgb.cpp | 6 | ||||
| -rw-r--r-- | lib/rgb/rgb.h | 1 |
6 files changed, 188 insertions, 3 deletions
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); |