Added moveControll in main.cpp

src/config.h

@@ -23,5 +23,5 @@
 #define PWM_CHANNEL_M2 1
 #define UPDATE_TIME 25
 #define SPEED_STEPS 5       //  A total of 20 levels ( 100 / SPEED_STEPS ) * UPDATE_TIME = 500ms
-#define PWM_MIN 40
+#define PWM_MIN 150
 #define PWM_MAX 245         // Max 98% of 2^PWM_RES

src/main.cpp

@@ -7,30 +7,99 @@
 #define INCLUDE_GAMEPAD_MODULE
 #include <DabbleESP32.h>
 
+void gamepadInput();
+int8_t modSpeed(int8_t dir, int8_t speed);
+
 MotorControl left_motor;
+MotorControl right_motor;
+
+uint64_t last_millis = 0;
 
 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
 
   left_motor.init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
+  right_motor.init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
 
 }
 
 void loop() {
-  delay(500);
+  if (millis() - last_millis > 300) {
-  left_motor.runMotorControl();
+    gamepadInput();
+    Serial.print("Motor Links: ");
     left_motor.toString();
-  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("Motor Rechts: ");
-  //Serial.print("KeyPressed: ");
+    right_motor.toString();
-  if (GamePad.isUpPressed()) {
+
-    Serial.print("Up\n");
+    last_millis = millis();
-    left_motor.setTargetSpeed(100);
-  } else if (GamePad.isDownPressed()) {
-    Serial.print("Down\n");
-    left_motor.setTargetSpeed(-100);
-  } else if (GamePad.isCirclePressed()) {
-    left_motor.setTargetSpeed(0);
   }
+  left_motor.runMotorControl();
+  right_motor.runMotorControl();
+}
+
+void gamepadInput() {
+  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: ");
+
+  static int8_t speed_left = 0;
+  if (GamePad.isUpPressed()) {
+    speed_left = modSpeed(1, speed_left);
+  } else if (GamePad.isDownPressed()) {
+    speed_left = modSpeed(-1, speed_left);
+  } else {
+    speed_left = modSpeed(0, speed_left);
+  }
+
+  static int8_t speed_right = 0;
+  if (GamePad.isTrianglePressed()) {
+    speed_right = modSpeed(1, speed_right);
+  } else if (GamePad.isCrossPressed()) {
+    speed_right = modSpeed(-1, speed_right);
+  } else {
+    speed_right = modSpeed(0, speed_right);
+  }
+
+  left_motor.setTargetSpeed(speed_left);
+  right_motor.setTargetSpeed(speed_right);
+}
+
+int8_t modSpeed(int8_t dir, int8_t speed) {
+  int8_t new_speed = 0;
+  if (dir == 1) {
+    if (speed > 0) {
+      new_speed = speed + 5;
+    } else if (speed == 0) {
+      new_speed = 5;
+    } else {
+      new_speed = speed + 5;
+    }
+  } else if (dir == 0) {
+    if (speed > 0) {
+      new_speed = speed - 5;
+    } else if (speed == 0) {
+      new_speed = 0;
+    } else {
+      new_speed = speed + 5;
+    }
+  } else if (dir == -1) {
+    if (speed > 0) {
+      new_speed = speed - 5;
+    } else if (speed == 0) {
+      new_speed = -5;
+    } else {
+      new_speed = speed - 5;
+    }
+  }
+
+  if (new_speed < -100) {
+    new_speed = -100;
+  }
+
+  if (new_speed > 100) {
+    new_speed = 100;
+  }
+
+  return new_speed;
 }
 

src/motorControl.cpp

@@ -26,8 +26,7 @@ void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t direction_
 }
 
 void MotorControl::runMotorControl() {
-    uint64_t now_millis = millis();
+    if (millis() - this->last_millis > 300) {
-    if (now_millis - this->last_millis > UPDATE_TIME) {
 
         // Absolute difference between target_speed and speed
         uint8_t abs_difference = abs(this->target_speed - this->speed);
@@ -38,17 +37,18 @@ void MotorControl::runMotorControl() {
         // Check that the target speed is close to 0 and that the abs_difference is lower than SPEED_STEPS
         if (abs(this->target_speed) <  SPEED_STEPS && abs_difference < SPEED_STEPS) {
             this->setSpeed(0);
+            this->last_millis = millis();
             return;
         }
 
         // Correct speed
         if (abs_difference < SPEED_STEPS) {
+            this->last_millis = millis();
             return;
         }
 
         // Positive or negative tagret speed
         if (this->target_speed >= 0) {
-
             // Positive or negative speed
             if (this->speed >= 0) {
                 if (difference > 0) {
@@ -61,7 +61,6 @@ void MotorControl::runMotorControl() {
             }
 
         } else {
-
             // Positive or negative speed
             if (this->speed >= 0) {
                 this->accelerate(-SPEED_STEPS);
@@ -73,9 +72,8 @@ void MotorControl::runMotorControl() {
                 }
             }
         }
-    }
-
         this->last_millis = millis();
+    }
 }
 
 void MotorControl::setTargetSpeed(int16_t speed) {
@@ -140,7 +138,7 @@ void MotorControl::setSpeed(int16_t speed) {
     }
 
     ledcWrite(this->pwm_channel, pwm_val);
-    Serial.printf("pwm_val: %d, ", pwm_val);
+    // Serial.printf("pwm_val: %d, ", pwm_val);
 }
 
 void MotorControl::accelerate(int8_t acc) {