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AsulL298.cpp
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AsulL298.cpp
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#include <Arduino.h>
#define TOLERANCE 30
#define CENTER_POS 511
#define IS_CENTER(x) ((x >= (CENTER_POS-TOLERANCE))&&(x <= (CENTER_POS+TOLERANCE)))
#include "AsulL298.h"
AsulL298::AsulL298(uint8_t index)
{
}
AsulL298::AsulL298(uint8_t in1, uint8_t in2, uint8_t enAPin, uint8_t in3, uint8_t in4,uint8_t enBPin)
{
IN1 = in1;
IN2 = in2;
IN3 = in3;
IN4 = in4;
ENA = enAPin;
ENB = enBPin;
}
void AsulL298::attach()
{
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
}
void AsulL298::setMotorSpeed(unsigned char mode, unsigned char speed){
if(mode == CH1){
analogWrite(ENA, speed);
}else if(mode == CH2){
analogWrite(ENB, speed);
}else{
analogWrite(ENA, speed);
analogWrite(ENB, speed);
}
}
//앞으로
void AsulL298::goForward(){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
//뒤로
void AsulL298::goBackward(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}
//왼쪽
void AsulL298::turnLeft(){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, HIGH);
}
//오른쪽
void AsulL298::turnRight(){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}
//스톱
void AsulL298::stopMotor(){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, HIGH);
}
//개별 축 모터 제어 전진 (ch 채널, speed 속도)
void AsulL298::go(uint8_t ch, uint8_t speed){
if(ch == CH1)
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
setMotorSpeed(ch, speed);
}
else if(ch == CH2)
{
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
setMotorSpeed(ch, speed);
}
else
{
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
setMotorSpeed(ALL_CH, speed);
}
}
//개별 축 모터 제어 후진(ch 채널, speed 속도)
void AsulL298::back(uint8_t ch, uint8_t speed){
if(ch == CH1)
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
setMotorSpeed(ch, speed);
}
else if(ch == CH2)
{
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
setMotorSpeed(ch, speed);
}
else
{
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
setMotorSpeed(ALL_CH, speed);
}
}
/*
* http://www.impulseadventure.com/elec/robot-differential-steering.html
*/
void AsulL298::moveMotor(int xAxis, int yAxis, uint8_t speed)
{
int nJoyX;
int nJoyY;
int nMotMixL; // Motor (left) mixed output (-128..+127)
int nMotMixR; // Motor (right) mixed output (-128..+127)
// TEMP VARIABLES
float nMotPremixL; // Motor (left) premixed output (-128..+127)
float nMotPremixR; // Motor (right) premixed output (-128..+127)
int nPivSpeed; // Pivot Speed (-128..+127)
float fPivScale; // Balance scale b/w drive and pivot ( 0..1 )
float fPivYLimit = 32.0;
Serial.print(xAxis);
Serial.print(" ");
Serial.println(yAxis);
if(IS_CENTER(xAxis))
xAxis = CENTER_POS;
if(IS_CENTER(yAxis))
yAxis = CENTER_POS;
nJoyX = map(xAxis, 0, 1023, -128, 127);
nJoyY = map(yAxis, 0, 1023, -128, 127);
Serial.print(xAxis);
Serial.print(" ");
Serial.println(yAxis);
// Calculate Drive Turn output due to Joystick X input
if (nJoyY >= 0) {
// Forward
nMotPremixL = (nJoyX>=0)? 127.0 : (127.0 + nJoyX);
nMotPremixR = (nJoyX>=0)? (127.0 - nJoyX) : 127.0;
} else {
// Reverse
nMotPremixL = (nJoyX>=0)? (127.0 - nJoyX) : 127.0;
nMotPremixR = (nJoyX>=0)? 127.0 : (127.0 + nJoyX);
}
// Scale Drive output due to Joystick Y input (throttle)
nMotPremixL = nMotPremixL * nJoyY/128.0;
nMotPremixR = nMotPremixR * nJoyY/128.0;
// Now calculate pivot amount
// - Strength of pivot (nPivSpeed) based on Joystick X input
// - Blending of pivot vs drive (fPivScale) based on Joystick Y input
nPivSpeed = nJoyX;
fPivScale = (abs(nJoyY)>fPivYLimit)? 0.0 : (1.0 - abs(nJoyY)/fPivYLimit);
// Calculate final mix of Drive and Pivot
nMotMixL = (1.0-fPivScale)*nMotPremixL + fPivScale*( nPivSpeed);
nMotMixR = (1.0-fPivScale)*nMotPremixR + fPivScale*(-nPivSpeed);
if(nMotMixL < 0)
{
back(CH1, map(abs(nMotMixL), 0, 127, 0, 255));
}
else
{
go(CH1, map(abs(nMotMixL), 0, 127, 0, 255));
}
if(nMotMixR < 0)
{
back(CH2, map(abs(nMotMixR), 0, 127, 0, 255));
}
else
{
go(CH2, map(abs(nMotMixR), 0, 127, 0, 255));
}
}
String AsulL298::getVersion()
{
return Version;
}