bendns' repos / ArduinoStuff
arduino stuffs
Diffstat
-rw-r--r--car_driver/arduino/arduino.ino14
-rw-r--r--car_driver/arduino/drive.h18
-rw-r--r--car_driver/arduino/drive.ino57
-rw-r--r--car_driver/arduino/motor.h30
-rw-r--r--car_driver/arduino/motor_utils.h18
5 files changed, 74 insertions, 63 deletions
diff --git a/car_driver/arduino/arduino.ino b/car_driver/arduino/arduino.ino
index 8e231da..5be4b2d 100644
--- a/car_driver/arduino/arduino.ino
+++ b/car_driver/arduino/arduino.ino
@@ -6,6 +6,8 @@ const int MOVE_RIGHT[2] = {1, 0}; // move right
const int MOVE_BACK[2] = {0, 1}; // move back
const int MOVE_STOP[2] = {0, 0}; // stop
+#include "drive.h"
+
void setup() {
Serial.begin(9600);
Serial.println("initialized");
@@ -35,21 +37,21 @@ void processCommand(const int x, const int y) {
}
if (x < DEADZONE && x >= 0) {
// apply brakes to motora
- brakeMotorA();
+ motor_a.brake();
} else if (x < 0) {
- motorABackward(abs(x) + 155);
+ motor_a.backward(abs(x) + 155);
} else {
// positive number: 100 + 155 = 255
- motorAForward(x + 155);
+ motor_a.forward(x + 155);
}
if (y < DEADZONE && y >= 0) {
// apply brakes to motorb
- brakeMotorB();
+ motor_b.brake();
} else if (y < 0) { // negative number: -100 + 355 = 255
- motorBBackward(abs(y) + 155);
+ motor_b.backward(abs(y) + 155);
} else {
// apply speed to motorb
- motorBForward(y + 155);
+ motor_b.forward(y + 155);
}
Serial.print("x: ");
Serial.print(String(x));
diff --git a/car_driver/arduino/drive.h b/car_driver/arduino/drive.h
new file mode 100644
index 0000000..1850ce9
--- /dev/null
+++ b/car_driver/arduino/drive.h
@@ -0,0 +1,18 @@
+#ifndef DRIVE_H
+#define DRIVE_H
+
+#include "motor.h"
+
+Motor motor_b(13, 8, 11);
+Motor motor_a(12, 9, 3);
+
+inline void begin() {
+ motor_a.begin();
+ motor_b.begin();
+}
+
+inline void stop() {
+ motor_a.brake();
+ motor_b.brake();
+}
+#endif \ No newline at end of file
diff --git a/car_driver/arduino/drive.ino b/car_driver/arduino/drive.ino
deleted file mode 100644
index 4ced292..0000000
--- a/car_driver/arduino/drive.ino
+++ /dev/null
@@ -1,57 +0,0 @@
-#define MotorA 12 // left motor
-#define BrakeMotorA 9
-#define MotorASpeed 3
-
-#define MotorB 13 // right motor
-#define BrakeMotorB 8
-#define MotorBSpeed 11
-
-void begin() {
- // Setup Channel A
- pinMode(MotorA, OUTPUT);
- pinMode(BrakeMotorA, OUTPUT);
-
- // Setup Channel B
- pinMode(MotorB, OUTPUT);
- pinMode(BrakeMotorB, OUTPUT);
-}
-
-// @param direction LOW is backwards, HIGH is forward
-// @param speed 0-255
-void motor(int motorpin, int motorbrake, int motorspeed, int direction,
- int speed) {
- digitalWrite(motorpin, direction);
- digitalWrite(motorbrake, LOW); // brake off
- analogWrite(motorspeed, speed); // speed up
-}
-
-void motorAForward(int speed) {
- motor(MotorA, BrakeMotorA, MotorASpeed, HIGH, speed);
-}
-
-void motorBForward(int speed) {
- motor(MotorB, BrakeMotorB, MotorBSpeed, HIGH, speed);
-}
-
-void motorBBackward(int speed) {
- motor(MotorB, BrakeMotorB, MotorBSpeed, LOW, speed);
-}
-
-void motorABackward(int speed) {
- motor(MotorA, BrakeMotorA, MotorASpeed, LOW, speed);
-}
-
-void brakeMotorA() {
- digitalWrite(brakeMotorA, HIGH); // engage brake
- analogWrite(MotorASpeed, 0); // slow
-}
-
-void brakeMotorB() {
- digitalWrite(brakeMotorB, HIGH); // engage brake
- analogWrite(MotorBSpeed, 0); // slow
-}
-
-void stop() {
- brakeMotorA();
- brakeMotorB();
-} \ No newline at end of file
diff --git a/car_driver/arduino/motor.h b/car_driver/arduino/motor.h
new file mode 100644
index 0000000..f2f0f43
--- /dev/null
+++ b/car_driver/arduino/motor.h
@@ -0,0 +1,30 @@
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include "motor_utils.h"
+
+struct Motor {
+ int pin;
+ int brake_pin;
+ int speed_pin;
+
+ inline void forward(int speed) {
+ motor_utils::set(pin, brake_pin, speed_pin, HIGH, speed);
+ }
+ inline void backward(int speed) {
+ motor_utils::set(pin, brake_pin, speed_pin, LOW, speed);
+ }
+ inline void brake() { motor_utils::brake(brake_pin, speed_pin); }
+
+ inline void begin() {
+ pinMode(pin, OUTPUT);
+ pinMode(brake_pin, OUTPUT);
+ }
+
+ Motor(const int _pin, const int _brake_pin, const int _speed_pin) {
+ pin = _pin;
+ brake_pin = _brake_pin;
+ speed_pin = _speed_pin;
+ }
+};
+#endif \ No newline at end of file
diff --git a/car_driver/arduino/motor_utils.h b/car_driver/arduino/motor_utils.h
new file mode 100644
index 0000000..fea6441
--- /dev/null
+++ b/car_driver/arduino/motor_utils.h
@@ -0,0 +1,18 @@
+#ifndef MOTOR_UTILS_H
+#define MOTOR_UTILS_H
+
+namespace motor_utils {
+// @param direction LOW is backwards, HIGH is forward
+// @param speed 0-255
+inline void set(int motor, int brake, int speed_pin, int direction, int speed) {
+ digitalWrite(motor, direction);
+ digitalWrite(brake, LOW); // brake off
+ analogWrite(speed_pin, speed); // speed up
+}
+
+inline void brake(int brake_pin, int speed_pin) {
+ digitalWrite(brake_pin, HIGH); // engage brake
+ analogWrite(speed_pin, 0); // slow
+}
+} // namespace motor_utils
+#endif \ No newline at end of file