[236] | 1 | #include "ZumoMotors.h"
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| 2 |
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| 3 | #define PWM_L 10
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| 4 | #define PWM_R 9
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| 5 | #define DIR_L 8
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| 6 | #define DIR_R 7
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| 7 |
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| 8 | #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) || defined (__AVR_ATmega32U4__)
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| 9 | #define USE_20KHZ_PWM
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| 10 | #endif
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| 11 |
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| 12 | static boolean flipLeft = false;
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| 13 | static boolean flipRight = false;
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| 14 |
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| 15 | // constructor (doesn't do anything)
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| 16 | ZumoMotors::ZumoMotors()
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| 17 | {
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| 18 | }
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| 19 |
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| 20 | // initialize timer1 to generate the proper PWM outputs to the motor drivers
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| 21 | void ZumoMotors::init2()
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| 22 | {
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| 23 | pinMode(PWM_L, OUTPUT);
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| 24 | pinMode(PWM_R, OUTPUT);
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| 25 | pinMode(DIR_L, OUTPUT);
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| 26 | pinMode(DIR_R, OUTPUT);
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| 27 |
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| 28 | #ifdef USE_20KHZ_PWM
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| 29 | // Timer 1 configuration
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| 30 | // prescaler: clockI/O / 1
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| 31 | // outputs enabled
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| 32 | // phase-correct PWM
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| 33 | // top of 400
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| 34 | //
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| 35 | // PWM frequency calculation
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| 36 | // 16MHz / 1 (prescaler) / 2 (phase-correct) / 400 (top) = 20kHz
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| 37 | TCCR1A = 0b10100000;
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| 38 | TCCR1B = 0b00010001;
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| 39 | ICR1 = 400;
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| 40 | #endif
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| 41 | }
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| 42 |
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| 43 | // enable/disable flipping of left motor
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| 44 | void ZumoMotors::flipLeftMotor(boolean flip)
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| 45 | {
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| 46 | flipLeft = flip;
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| 47 | }
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| 48 |
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| 49 | // enable/disable flipping of right motor
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| 50 | void ZumoMotors::flipRightMotor(boolean flip)
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| 51 | {
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| 52 | flipRight = flip;
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| 53 | }
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| 54 |
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| 55 | // set speed for left motor; speed is a number between -400 and 400
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| 56 | void ZumoMotors::setLeftSpeed(int speed)
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| 57 | {
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| 58 | init(); // initialize if necessary
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| 59 |
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| 60 | boolean reverse = 0;
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| 61 |
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| 62 | if (speed < 0)
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| 63 | {
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| 64 | speed = -speed; // make speed a positive quantity
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| 65 | reverse = 1; // preserve the direction
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| 66 | }
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| 67 | if (speed > 400) // Max
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| 68 | speed = 400;
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| 69 |
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| 70 | #ifdef USE_20KHZ_PWM
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| 71 | OCR1B = speed;
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| 72 | #else
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| 73 | analogWrite(PWM_L, speed * 51 / 80); // default to using analogWrite, mapping 400 to 255
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| 74 | #endif
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| 75 |
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| 76 | if (reverse ^ flipLeft) // flip if speed was negative or flipLeft setting is active, but not both
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| 77 | digitalWrite(DIR_L, HIGH);
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| 78 | else
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| 79 | digitalWrite(DIR_L, LOW);
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| 80 | }
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| 81 |
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| 82 | // set speed for right motor; speed is a number between -400 and 400
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| 83 | void ZumoMotors::setRightSpeed(int speed)
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| 84 | {
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| 85 | init(); // initialize if necessary
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| 86 |
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| 87 | boolean reverse = 0;
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| 88 |
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| 89 | if (speed < 0)
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| 90 | {
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| 91 | speed = -speed; // Make speed a positive quantity
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| 92 | reverse = 1; // Preserve the direction
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| 93 | }
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| 94 | if (speed > 400) // Max PWM dutycycle
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| 95 | speed = 400;
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| 96 |
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| 97 | #ifdef USE_20KHZ_PWM
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| 98 | OCR1A = speed;
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| 99 | #else
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| 100 | analogWrite(PWM_R, speed * 51 / 80); // default to using analogWrite, mapping 400 to 255
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| 101 | #endif
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| 102 |
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| 103 | if (reverse ^ flipRight) // flip if speed was negative or flipRight setting is active, but not both
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| 104 | digitalWrite(DIR_R, HIGH);
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| 105 | else
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| 106 | digitalWrite(DIR_R, LOW);
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| 107 | }
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| 108 |
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| 109 | // set speed for both motors
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| 110 | void ZumoMotors::setSpeeds(int leftSpeed, int rightSpeed)
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| 111 | {
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| 112 | setLeftSpeed(leftSpeed);
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| 113 | setRightSpeed(rightSpeed);
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| 114 | }
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