Initial commit

2021-03-10 10:25:56 +01:00
commit 46e97a4a00
9 changed files with 289 additions and 0 deletions
@@ -0,0 +1,153 @@
+#include <Arduino.h>
+
+#include "config.h"
+
+#define CUSTOM_SETTINGS
+#define INCLUDE_GAMEPAD_MODULE
+#include <DabbleESP32.h>
+
+
+// Functions
+void setMotorDirection(uint8_t motor ,uint8_t direction = FORWARD);
+void setMotorSpeed(uint8_t motor, uint8_t speed);
+
+void setup() {
+  Serial.begin(115200);      // make sure your Serial Monitor is also set at this baud rate.
+  Dabble.begin("Kleiax-Rover");       //set bluetooth name of your device
+
+  //SETUP PINS
+  pinMode(M_DIR_11, OUTPUT);
+  pinMode(M_DIR_12, OUTPUT);
+  pinMode(M_DIR_21, OUTPUT);
+  pinMode(M_DIR_22, OUTPUT);
+
+  digitalWrite(M_DIR_11, LOW);
+  digitalWrite(M_DIR_12, LOW);
+  digitalWrite(M_DIR_21, LOW);
+  digitalWrite(M_DIR_22, LOW);
+
+  ledcSetup(PWM_CHANNEL_M1, PWM_FREQ, PWM_RES);
+  ledcSetup(PWM_CHANNEL_M2, PWM_FREQ, PWM_RES);
+  ledcAttachPin(M_PWM_1, PWM_CHANNEL_M1);
+  ledcAttachPin(M_PWM_2, PWM_CHANNEL_M2);
+  ledcWrite(M_PWM_1, 0);
+  ledcWrite(M_PWM_2, 0);
+
+
+  //Start speed
+  setMotorSpeed(BOTH_MOTOR, 255);
+
+}
+
+void loop() {
+  Dabble.processInput();             //this function is used to refresh data obtained from smartphone.Hence calling this function is mandatory in order to get data properly from your mobile.
+  //Serial.print("KeyPressed: ");
+  if (GamePad.isUpPressed()) {
+    Serial.print("Up\n");
+    setMotorDirection(BOTH_MOTOR, FORWARD);
+  } else if (GamePad.isDownPressed()) {
+    Serial.print("Down\n");
+    setMotorDirection(BOTH_MOTOR, BACKWARD);
+  } else if (GamePad.isLeftPressed()) {
+    Serial.print("Left\n");
+    setMotorDirection(LEFT_MOTOR, BACKWARD);
+    setMotorDirection(RIGHT_MOTOR, FORWARD);
+  } else if (GamePad.isRightPressed()) {
+    Serial.print("Right\n");
+    setMotorDirection(LEFT_MOTOR, FORWARD);
+    setMotorDirection(RIGHT_MOTOR, BACKWARD);
+
+  } else if (GamePad.isSquarePressed()) {
+    setMotorDirection(LEFT_MOTOR, FORWARD);
+    Serial.print("1\n");
+  } else if (GamePad.isTrianglePressed()) {
+    setMotorDirection(LEFT_MOTOR, BACKWARD);
+    Serial.print("2\n");
+  } else if (GamePad.isCirclePressed()) {
+    setMotorDirection(RIGHT_MOTOR, FORWARD);
+    Serial.print("3\n");
+  } else if (GamePad.isCrossPressed()) {
+    setMotorDirection(RIGHT_MOTOR, BACKWARD);
+    Serial.print("4\n");
+  
+
+
+
+  } else {
+    setMotorDirection(BOTH_MOTOR, STOP);
+  }
+}
+
+void setMotorDirection(uint8_t motor ,uint8_t direction) {
+  if (motor == LEFT_MOTOR) {
+    if (direction == FORWARD) {
+      digitalWrite(M_DIR_11, HIGH);
+      digitalWrite(M_DIR_12, LOW);
+    } else if (direction == BACKWARD) {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, HIGH);
+    } else if (direction == STOP) {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, LOW);
+    } else {
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+      Serial.print("setDirection: undefined direction\n");
+    }
+  } else if (motor == RIGHT_MOTOR) {
+    if (direction == FORWARD) {
+      digitalWrite(M_DIR_21, HIGH);
+      digitalWrite(M_DIR_22, LOW);
+    } else if (direction == BACKWARD) {
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, HIGH);
+    } else if (direction == STOP) {
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+    } else {
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+      Serial.print("setDirection: undefined direction\n");
+    }
+  } else if (motor == BOTH_MOTOR) {
+    if (direction == FORWARD) {
+      digitalWrite(M_DIR_11, HIGH);
+      digitalWrite(M_DIR_12, LOW);
+      digitalWrite(M_DIR_21, HIGH);
+      digitalWrite(M_DIR_22, LOW);
+    } else if (direction == BACKWARD) {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, HIGH);
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, HIGH);
+    } else if (direction == STOP) {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, LOW);
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+    }else {
+      digitalWrite(M_DIR_11, LOW);
+      digitalWrite(M_DIR_12, LOW);
+      digitalWrite(M_DIR_21, LOW);
+      digitalWrite(M_DIR_22, LOW);
+      Serial.print("setDirection: undefined direction\n");
+    }
+  } else {
+    Serial.print("setDirection: undefined motor\n");
+  }
+}
+
+void setMotorSpeed(uint8_t motor, uint8_t speed) {
+  if (motor == LEFT_MOTOR) {
+    ledcWrite(PWM_CHANNEL_M1, speed);
+  } else if (motor == RIGHT_MOTOR) {
+    ledcWrite(PWM_CHANNEL_M2, speed);
+  } else if (motor == BOTH_MOTOR) {
+    ledcWrite(PWM_CHANNEL_M1, speed);
+    ledcWrite(PWM_CHANNEL_M2, speed);
+  } else {
+    ledcWrite(PWM_CHANNEL_M1, 0);
+    ledcWrite(PWM_CHANNEL_M2, 0);
+    Serial.print("setSpeed: undefined motor \n");
+  }
+}