Initial commit
This commit is contained in:
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.pio
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.vscode/.browse.c_cpp.db*
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.vscode/c_cpp_properties.json
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.vscode/launch.json
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.vscode/ipch
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Vendored
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{
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// See http://go.microsoft.com/fwlink/?LinkId=827846
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// for the documentation about the extensions.json format
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"recommendations": [
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"platformio.platformio-ide"
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]
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}
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This directory is intended for project header files.
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A header file is a file containing C declarations and macro definitions
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to be shared between several project source files. You request the use of a
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header file in your project source file (C, C++, etc) located in `src` folder
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by including it, with the C preprocessing directive `#include'.
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```src/main.c
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#include "header.h"
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int main (void)
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{
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...
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}
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```
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Including a header file produces the same results as copying the header file
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into each source file that needs it. Such copying would be time-consuming
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and error-prone. With a header file, the related declarations appear
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in only one place. If they need to be changed, they can be changed in one
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place, and programs that include the header file will automatically use the
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new version when next recompiled. The header file eliminates the labor of
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finding and changing all the copies as well as the risk that a failure to
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find one copy will result in inconsistencies within a program.
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In C, the usual convention is to give header files names that end with `.h'.
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It is most portable to use only letters, digits, dashes, and underscores in
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header file names, and at most one dot.
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Read more about using header files in official GCC documentation:
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* Include Syntax
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* Include Operation
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* Once-Only Headers
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* Computed Includes
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https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
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+46
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This directory is intended for project specific (private) libraries.
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PlatformIO will compile them to static libraries and link into executable file.
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The source code of each library should be placed in a an own separate directory
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("lib/your_library_name/[here are source files]").
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For example, see a structure of the following two libraries `Foo` and `Bar`:
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|--lib
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| |
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| |--Bar
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| | |--docs
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| | |--examples
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| | |--src
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| | |- Bar.c
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| | |- Bar.h
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| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
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| |
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| |--Foo
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| | |- Foo.c
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| | |- Foo.h
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| |
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| |- README --> THIS FILE
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|
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|- platformio.ini
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|--src
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|- main.c
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and a contents of `src/main.c`:
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```
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#include <Foo.h>
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#include <Bar.h>
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int main (void)
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{
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...
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}
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```
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PlatformIO Library Dependency Finder will find automatically dependent
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libraries scanning project source files.
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More information about PlatformIO Library Dependency Finder
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- https://docs.platformio.org/page/librarymanager/ldf.html
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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[env:esp32doit-devkit-v1]
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platform = espressif32
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board = esp32doit-devkit-v1
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framework = arduino
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monitor_speed = 115200
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lib_deps = stempedia/DabbleESP32@^1.5.1
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//Pin Configs
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#define M_DIR_11 15
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#define M_DIR_12 0
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#define M_PWM_1 5
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#define M_DIR_21 4
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#define M_DIR_22 2
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#define M_PWM_2 18
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//Motors
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#define LEFT_MOTOR 1
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#define RIGHT_MOTOR 2
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#define BOTH_MOTOR 3
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//Directions
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#define STOP 0
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#define FORWARD 1
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#define BACKWARD 2
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//PWM Configs
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#define PWM_FREQ 5000
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#define PWM_RES 8
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#define PWM_CHANNEL_M1 0
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#define PWM_CHANNEL_M2 1
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+153
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#include <Arduino.h>
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#include "config.h"
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#define CUSTOM_SETTINGS
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#define INCLUDE_GAMEPAD_MODULE
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#include <DabbleESP32.h>
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// Functions
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void setMotorDirection(uint8_t motor ,uint8_t direction = FORWARD);
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void setMotorSpeed(uint8_t motor, uint8_t speed);
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void setup() {
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Serial.begin(115200); // make sure your Serial Monitor is also set at this baud rate.
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Dabble.begin("Kleiax-Rover"); //set bluetooth name of your device
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//SETUP PINS
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pinMode(M_DIR_11, OUTPUT);
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pinMode(M_DIR_12, OUTPUT);
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pinMode(M_DIR_21, OUTPUT);
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pinMode(M_DIR_22, OUTPUT);
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digitalWrite(M_DIR_11, LOW);
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digitalWrite(M_DIR_12, LOW);
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digitalWrite(M_DIR_21, LOW);
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digitalWrite(M_DIR_22, LOW);
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ledcSetup(PWM_CHANNEL_M1, PWM_FREQ, PWM_RES);
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ledcSetup(PWM_CHANNEL_M2, PWM_FREQ, PWM_RES);
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ledcAttachPin(M_PWM_1, PWM_CHANNEL_M1);
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ledcAttachPin(M_PWM_2, PWM_CHANNEL_M2);
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ledcWrite(M_PWM_1, 0);
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ledcWrite(M_PWM_2, 0);
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//Start speed
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setMotorSpeed(BOTH_MOTOR, 255);
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}
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void loop() {
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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.
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//Serial.print("KeyPressed: ");
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if (GamePad.isUpPressed()) {
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Serial.print("Up\n");
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setMotorDirection(BOTH_MOTOR, FORWARD);
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} else if (GamePad.isDownPressed()) {
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Serial.print("Down\n");
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setMotorDirection(BOTH_MOTOR, BACKWARD);
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} else if (GamePad.isLeftPressed()) {
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Serial.print("Left\n");
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setMotorDirection(LEFT_MOTOR, BACKWARD);
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setMotorDirection(RIGHT_MOTOR, FORWARD);
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} else if (GamePad.isRightPressed()) {
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Serial.print("Right\n");
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setMotorDirection(LEFT_MOTOR, FORWARD);
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setMotorDirection(RIGHT_MOTOR, BACKWARD);
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} else if (GamePad.isSquarePressed()) {
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setMotorDirection(LEFT_MOTOR, FORWARD);
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Serial.print("1\n");
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} else if (GamePad.isTrianglePressed()) {
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setMotorDirection(LEFT_MOTOR, BACKWARD);
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Serial.print("2\n");
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} else if (GamePad.isCirclePressed()) {
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setMotorDirection(RIGHT_MOTOR, FORWARD);
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Serial.print("3\n");
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} else if (GamePad.isCrossPressed()) {
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setMotorDirection(RIGHT_MOTOR, BACKWARD);
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Serial.print("4\n");
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} else {
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setMotorDirection(BOTH_MOTOR, STOP);
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}
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}
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void setMotorDirection(uint8_t motor ,uint8_t direction) {
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if (motor == LEFT_MOTOR) {
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if (direction == FORWARD) {
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digitalWrite(M_DIR_11, HIGH);
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digitalWrite(M_DIR_12, LOW);
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} else if (direction == BACKWARD) {
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digitalWrite(M_DIR_11, LOW);
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digitalWrite(M_DIR_12, HIGH);
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} else if (direction == STOP) {
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digitalWrite(M_DIR_11, LOW);
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digitalWrite(M_DIR_12, LOW);
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} else {
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digitalWrite(M_DIR_21, LOW);
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digitalWrite(M_DIR_22, LOW);
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Serial.print("setDirection: undefined direction\n");
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}
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} else if (motor == RIGHT_MOTOR) {
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if (direction == FORWARD) {
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digitalWrite(M_DIR_21, HIGH);
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digitalWrite(M_DIR_22, LOW);
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} else if (direction == BACKWARD) {
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digitalWrite(M_DIR_21, LOW);
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digitalWrite(M_DIR_22, HIGH);
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} else if (direction == STOP) {
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digitalWrite(M_DIR_21, LOW);
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digitalWrite(M_DIR_22, LOW);
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} else {
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digitalWrite(M_DIR_21, LOW);
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digitalWrite(M_DIR_22, LOW);
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Serial.print("setDirection: undefined direction\n");
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}
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} else if (motor == BOTH_MOTOR) {
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if (direction == FORWARD) {
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digitalWrite(M_DIR_11, HIGH);
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digitalWrite(M_DIR_12, LOW);
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digitalWrite(M_DIR_21, HIGH);
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digitalWrite(M_DIR_22, LOW);
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} else if (direction == BACKWARD) {
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digitalWrite(M_DIR_11, LOW);
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digitalWrite(M_DIR_12, HIGH);
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digitalWrite(M_DIR_21, LOW);
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digitalWrite(M_DIR_22, HIGH);
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} else if (direction == STOP) {
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digitalWrite(M_DIR_11, LOW);
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digitalWrite(M_DIR_12, LOW);
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digitalWrite(M_DIR_21, LOW);
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digitalWrite(M_DIR_22, LOW);
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}else {
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digitalWrite(M_DIR_11, LOW);
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digitalWrite(M_DIR_12, LOW);
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digitalWrite(M_DIR_21, LOW);
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digitalWrite(M_DIR_22, LOW);
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Serial.print("setDirection: undefined direction\n");
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}
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} else {
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Serial.print("setDirection: undefined motor\n");
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}
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}
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void setMotorSpeed(uint8_t motor, uint8_t speed) {
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if (motor == LEFT_MOTOR) {
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ledcWrite(PWM_CHANNEL_M1, speed);
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} else if (motor == RIGHT_MOTOR) {
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ledcWrite(PWM_CHANNEL_M2, speed);
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} else if (motor == BOTH_MOTOR) {
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ledcWrite(PWM_CHANNEL_M1, speed);
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ledcWrite(PWM_CHANNEL_M2, speed);
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} else {
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ledcWrite(PWM_CHANNEL_M1, 0);
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ledcWrite(PWM_CHANNEL_M2, 0);
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Serial.print("setSpeed: undefined motor \n");
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}
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}
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