153 lines
4.5 KiB
C++
153 lines
4.5 KiB
C++
#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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} |