phillip/dezibot
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This commit is contained in:
Phillip Kühne
2025-02-11 23:33:00 +01:00
parent e747b9d10b
commit 893234ed24
2 changed files with 2 additions and 9 deletions
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2
src/Dezibot.cpp
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@ -9,7 +9,7 @@ Dezibot::Dezibot() : multiColorLight() {};
void Dezibot::begin(void) void Dezibot::begin(void)
{ {
Power.begin(); power.begin();
Wire.begin(SDA_PIN, SCL_PIN); Wire.begin(SDA_PIN, SCL_PIN);
infraredLight.begin(); infraredLight.begin();
lightDetection.begin(); lightDetection.begin();

9
src/motion/Motor.cpp
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@ -1,11 +1,11 @@
#include "Motion.h" #include "Motion.h"
#include "power/Power.h"
Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel){ Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel){
this->pin = pin; this->pin = pin;
this->channel = channel; this->channel = channel;
this->timer = timer; this->timer = timer;
this->duty = 0; this->duty = 0;
this->powerManager =
}; };
void Motor::begin(void){ void Motor::begin(void){
@ -24,13 +24,6 @@ void Motor::begin(void){
}; };
void Motor::setSpeed(uint16_t duty){ void Motor::setSpeed(uint16_t duty){
if(duty>0) {
powerManager->waitForPowerAllowance(CONSUMPTION_MOTOR, portMAX_DELAY);
Serial.println("Motor got power");
} else {
powerManager->releasePower(CONSUMPTION_MOTOR);
Serial.println("Motor released power");
}
int difference = duty-this->getSpeed(); int difference = duty-this->getSpeed();
if (difference > 0){ if (difference > 0){
for(int i = 0;i<difference;i+=difference/20){ for(int i = 0;i<difference;i+=difference/20){