Merge branch 'feature/#5-motion' into feature/#14-implement-motion-detection

src/Dezibot.cpp

@@ -16,5 +16,6 @@ Dezibot::Dezibot():multiColorLight(),motionDetection(){
 
 };
 void Dezibot::begin(void) {
+    motion.begin();
     multiColorLight.begin();
 };

src/motion/Motion.cpp

@@ -0,0 +1,81 @@
+/**
+ * @file Motion.cpp
+ * @author Jonathan Schulze, Nick Hübenthal, Hans Haupt
+ * @brief Implementation of the Motion class.
+ * @version 0.1
+ * @date 2023-12-13
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#include "Motion.h"
+
+TaskHandle_t xMoveTaskHandle = NULL;
+TaskHandle_t xClockwiseTaskHandle = NULL;
+TaskHandle_t xAntiClockwiseTaskHandle = NULL;
+
+// Initialize the movement component.
+void Motion::begin(void) {
+    
+};
+void Motion::moveTask(void * args) {
+    analogWrite(MOTOR_LEFT_PIN, LEFT_MOTOR_DUTY);
+    analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
+    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
+    analogWrite(MOTOR_LEFT_PIN, 0);
+    analogWrite(MOTOR_RIGHT_PIN, 0);
+    vTaskDelete(xMoveTaskHandle);
+};
+
+// Move forward for a certain amount of time.
+void Motion::move(uint32_t moveForMs) {
+    if (moveForMs > 0){
+    xTaskCreate(moveTask, "Move", 4096, (void*)moveForMs, 10, &xMoveTaskHandle);
+    } else{
+        analogWrite(MOTOR_LEFT_PIN, LEFT_MOTOR_DUTY);
+        analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
+    }
+};
+
+void Motion::leftMotorTask(void * args) {
+    analogWrite(MOTOR_LEFT_PIN, LEFT_MOTOR_DUTY);
+    analogWrite(MOTOR_RIGHT_PIN, 0);
+    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
+    analogWrite(MOTOR_LEFT_PIN, 0);
+    vTaskDelete(xClockwiseTaskHandle);
+};
+
+// Rotate clockwise for a certain amount of time.
+void Motion::rotateClockwise(uint32_t rotateForMs) {
+    if (rotateForMs > 0){
+        xTaskCreate(leftMotorTask, "LeftMotor", 4096, (void*)rotateForMs, 10, &xClockwiseTaskHandle);
+    } else {
+        analogWrite(MOTOR_LEFT_PIN,LEFT_MOTOR_DUTY);
+        analogWrite(MOTOR_RIGHT_PIN,0);
+    }
+};
+
+void Motion::rightMotorTask(void * args) {
+    analogWrite(MOTOR_RIGHT_PIN, RIGHT_MOTOR_DUTY);
+    analogWrite(MOTOR_LEFT_PIN,0);
+    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
+    analogWrite(MOTOR_RIGHT_PIN, 0);
+    vTaskDelete(xAntiClockwiseTaskHandle);
+};
+
+// Rotate anticlockwise for a certain amount of time.
+void Motion::rotateAntiClockwise(uint32_t rotateForMs) {
+    if(rotateForMs > 0){
+        xTaskCreate(rightMotorTask, "RightMotor", 4096, (void*)rotateForMs, 10, &xAntiClockwiseTaskHandle);
+    } else {
+        analogWrite(MOTOR_RIGHT_PIN,RIGHT_MOTOR_DUTY);
+        analogWrite(MOTOR_LEFT_PIN,0);
+    }
+};
+
+void Motion::stop(void){
+    analogWrite(MOTOR_LEFT_PIN,0);
+    analogWrite(MOTOR_RIGHT_PIN,0);
+}
+ 

src/motion/Motion.h

@@ -1,7 +1,64 @@
+/**
+ * @file Motion.h
+ * @author Jonathan Schulze, Nick Hübenthal
+ * @brief This component controls the ability to rotate and change position. 
+ * @version 0.1
+ * @date 2023-12-13
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
 #ifndef Motion_h
 #define Motion_h
+#include <stdint.h>
+#include <Arduino.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 class Motion{
+protected:
+    static const uint8_t RIGHT_MOTOR_DUTY = 128;
+    static const uint8_t LEFT_MOTOR_DUTY = 128;
+    static const int MOTOR_RIGHT_PIN = 11; 
+    static const int MOTOR_LEFT_PIN = 12;
+    static void moveTask(void * args);
+    static void leftMotorTask(void * args);
+    static void rightMotorTask(void * args);
+
+public:
+    /**
+     * @brief Initialize the movement component.
+     * 
+    */
+    void begin(void);
+
+    /**
+     * @brief Move forward for a certain amount of time.
+     * Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
+     * @param moveForMs Representing the duration of forward moving in milliseconds.
+    */
+    static void move(uint32_t moveForMs=0);
+
+    /**
+     * @brief Rotate clockwise for a certain amount of time.
+     * Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
+     * @param rotateForMs Representing the duration of rotating clockwise in milliseconds.
+    */
+    static void rotateClockwise(uint32_t rotateForMs=0);
+    
+    /**
+     * @brief Rotate anticlockwise for a certain amount of time.
+     * Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
+     * @param rotateForMs Representing the duration of rotating anticlockwise in milliseconds.
+    */
+    static void rotateAntiClockwise(uint32_t rotateForMs=0);
+
+    /**
+     * @brief stops any current movement, no matter if timebased or endless
+     * 
+     */
+    static void stop(void);
 
 };
 #endif //Motion_h