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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