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#include <Arduino.h>
#include "settings.h"
#include "motors.h"
#define RIGHT_CHANNEL 4
#define LEFT_CHANNEL 5
#define MOTOR_FREQ 5000
#define MOTOR_RES 10
MOTORS::MOTORS() {}
int MOTORS::scaleSpeed(int speed) {
return map(speed, 0, 100, 0, (1 << MOTOR_RES) - 1);
}
void MOTORS::init() {
ledcSetup(LEFT_CHANNEL, MOTOR_FREQ, MOTOR_RES);
ledcAttachPin(EN12, LEFT_CHANNEL);
ledcSetup(RIGHT_CHANNEL, MOTOR_FREQ, MOTOR_RES);
ledcAttachPin(EN34, RIGHT_CHANNEL);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
}
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::leftBackward(int speed, int duration) {
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
ledcWrite(LEFT_CHANNEL, scaleSpeed(speed));
if (duration > 0) {
vTaskDelay(duration / portTICK_PERIOD_MS);
leftStop();
}
}
void MOTORS::leftForward(int speed, int duration) {
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
ledcWrite(LEFT_CHANNEL, scaleSpeed(speed));
if (duration > 0) {
vTaskDelay(duration / portTICK_PERIOD_MS);
leftStop();
}
}
void MOTORS::rightBackward(int speed, int duration) {
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
ledcWrite(RIGHT_CHANNEL, scaleSpeed(speed));
if (duration > 0) {
vTaskDelay(duration / portTICK_PERIOD_MS);
rightStop();
}
}
void MOTORS::rightForward(int speed, int duration) {
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
ledcWrite(RIGHT_CHANNEL, scaleSpeed(speed));
if (duration > 0) {
vTaskDelay(duration / portTICK_PERIOD_MS);
rightStop();
}
}
void MOTORS::forward(int speed, int duration) {
leftForward(speed, 0);
rightForward(speed, 0);
if (duration > 0) {
vTaskDelay(duration / portTICK_PERIOD_MS);
stop();
}
}
void MOTORS::backward(int speed, int duration) {
leftBackward(speed, 0);
rightBackward(speed, 0);
if (duration > 0) {
vTaskDelay(duration / portTICK_PERIOD_MS);
stop();
}
}
void MOTORS::leftTurn(int speed, int duration) {
leftBackward(speed, 0);
rightForward(speed, 0);
if (duration > 0) {
vTaskDelay(duration / portTICK_PERIOD_MS);
stop();
}
}
void MOTORS::rightTurn(int speed, int duration) {
leftForward(speed, 0);
rightBackward(speed, 0);
if (duration > 0) {
vTaskDelay(duration / portTICK_PERIOD_MS);
stop();
}
}
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