bendns' repos / ArduinoStuff
arduino stuffs
Diffstat
-rw-r--r--car_driver/arduino/drive.h32
-rw-r--r--car_driver/arduino/motor.h36
-rw-r--r--car_driver/arduino/motor_utils.h19
3 files changed, 58 insertions, 29 deletions
diff --git a/car_driver/arduino/drive.h b/car_driver/arduino/drive.h
index 1850ce9..89a42b3 100644
--- a/car_driver/arduino/drive.h
+++ b/car_driver/arduino/drive.h
@@ -11,8 +11,38 @@ inline void begin() {
motor_b.begin();
}
-inline void stop() {
+inline void brake() {
motor_a.brake();
motor_b.brake();
}
+
+inline void forward(uint8_t speed) {
+ motor_a.forward(speed);
+ motor_b.forward(speed);
+}
+
+inline void forward(uint8_t a_speed, uint8_t b_speed) {
+ motor_a.forward(a_speed);
+ motor_b.forward(b_speed);
+}
+
+inline void backward(uint8_t speed) {
+ motor_a.backward(speed);
+ motor_b.backward(speed);
+}
+
+inline void backward(uint8_t a_speed, uint8_t b_speed) {
+ motor_a.backward(a_speed);
+ motor_b.backward(b_speed);
+}
+
+inline void speed(int8_t speed) {
+ motor_a.speed(speed);
+ motor_b.speed(speed);
+}
+
+inline void speed(uint8_t a_speed, uint8_t b_speed) {
+ motor_a.speed(a_speed);
+ motor_b.speed(b_speed);
+}
#endif \ No newline at end of file
diff --git a/car_driver/arduino/motor.h b/car_driver/arduino/motor.h
index cfc05e4..cc57f72 100644
--- a/car_driver/arduino/motor.h
+++ b/car_driver/arduino/motor.h
@@ -1,22 +1,40 @@
#ifndef MOTOR_H
#define MOTOR_H
-#include "motor_utils.h"
-
-struct Motor {
+class Motor {
+private:
int pin;
int brake_pin;
int speed_pin;
- inline void forward(int8_t speed) {
- motor_utils::set(pin, brake_pin, speed_pin, HIGH, speed);
+ // @param direction LOW is backwards, HIGH is forward
+ // @param speed 0-255
+ void set(int8_t direction, uint8_t speed) {
+ digitalWrite(pin, direction);
+ digitalWrite(brake_pin, LOW); // brake off
+ analogWrite(speed_pin, speed); // speed up
}
- inline void backward(int8_t speed) {
- motor_utils::set(pin, brake_pin, speed_pin, LOW, speed);
+
+public:
+ // @param speed -100-100, the speed to go at, negative = backwards
+ void speed(int8_t speed) {
+ if (speed == 0)
+ brake();
+ else if (speed < 0)
+ backward(abs(speed) + 155); // negative number: -100 + 355 = 255
+ else
+ forward(speed + 155); // positive number: 100 + 155 = 255
}
- inline void brake() { motor_utils::brake(brake_pin, speed_pin); }
- inline void begin() {
+ void brake() {
+ digitalWrite(brake_pin, HIGH); // engage brake
+ analogWrite(speed_pin, 0); // slow
+ }
+
+ inline void forward(uint8_t speed) { set(HIGH, speed); }
+ inline void backward(uint8_t speed) { set(LOW, speed); }
+
+ void begin() {
pinMode(pin, OUTPUT);
pinMode(brake_pin, OUTPUT);
}
diff --git a/car_driver/arduino/motor_utils.h b/car_driver/arduino/motor_utils.h
deleted file mode 100644
index cb40b1b..0000000
--- a/car_driver/arduino/motor_utils.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#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(uint8_t motor_pin, uint8_t brake_pin, uint8_t speed_pin,
- int8_t direction, uint8_t speed) {
- digitalWrite(motor_pin, direction);
- digitalWrite(brake_pin, LOW); // brake off
- analogWrite(speed_pin, speed); // speed up
-}
-
-inline void brake(uint8_t brake_pin, uint8_t speed_pin) {
- digitalWrite(brake_pin, HIGH); // engage brake
- analogWrite(speed_pin, 0); // slow
-}
-} // namespace motor_utils
-#endif \ No newline at end of file