From 967500ab8abefa6700941d589979176677ab0d72 Mon Sep 17 00:00:00 2001
From: EnricoGuccii <partyka.003@proton.me>
Date: Mon, 22 Dec 2025 23:30:13 +0100
Subject: yyy

---
 lib/motors/motors.cpp | 290 +++++++++++++++++++++++++-------------------------
 1 file changed, 145 insertions(+), 145 deletions(-)

(limited to 'lib/motors/motors.cpp')

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
-- 
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