include IR into release

example/example/example.ino

@@ -0,0 +1,16 @@
+#include <Dezibot.h>
+
+Dezibot dezibot = Dezibot();
+
+void setup() {
+  dezibot.begin();
+  //dezibot.infraredLight.front.turnOn();
+  //dezibot.infraredLight.bottom.turnOn();
+}
+
+void loop() {
+  dezibot.infraredLight.bottom.turnOn();
+  delay(1000);
+  dezibot.infraredLight.bottom.turnOff();
+  delay(1000);
+}

src/Dezibot.cpp

@@ -11,12 +11,17 @@
 
 
 #include "Dezibot.h"
+#include <SPI.h>
+#include <Wire.h>
+
 
 Dezibot::Dezibot():multiColorLight(),motionDetection(){
 
-};
+
+#define GPIO_LED 48
 
 void Dezibot::begin(void) {
+    infraredLight.begin();
     motion.begin();
     multiColorLight.begin();
     lightDetection.begin();    

src/Dezibot.h

@@ -16,6 +16,7 @@
 #include "colorDetection/ColorDetection.h"
 #include "multiColorLight/MultiColorLight.h"
 #include "motionDetection/MotionDetection.h"
+#include "infraredLight/InfraredLight.h"
 
 
 class Dezibot {
@@ -28,7 +29,7 @@ public:
     ColorDetection colorDetection;
     MultiColorLight multiColorLight;
     MotionDetection motionDetection;
-
+    InfraredLight infraredLight;
     void begin(void);
 /*
 Display display

src/infraredLight/InfraredLED.cpp

@@ -0,0 +1,59 @@
+#include "InfraredLight.h"
+
+#define pwmSpeedMode LEDC_LOW_SPEED_MODE
+#define fooPin 13
+#define footimer LEDC_TIMER_0
+#define foochannel LEDC_CHANNEL_0
+InfraredLED::InfraredLED(uint8_t pin,ledc_timer_t timer, ledc_channel_t channel){
+    this->ledPin = pin;
+    this->timer = timer;
+    this->channel = channel;
+};
+
+void InfraredLED::begin(void){
+   //we want to change frequency instead of 
+    pwmTimer = ledc_timer_config_t{
+        .speed_mode = pwmSpeedMode,
+        .duty_resolution = LEDC_TIMER_10_BIT,
+        .timer_num = this->timer,
+        .freq_hz = 1,
+        .clk_cfg = LEDC_AUTO_CLK
+    };
+    ledc_timer_config(&pwmTimer);
+
+    pwmChannel = ledc_channel_config_t{
+        .gpio_num = this->ledPin,
+        .speed_mode =pwmSpeedMode,
+        .channel = this->channel,
+        .intr_type = LEDC_INTR_DISABLE,
+        .timer_sel = this->timer,
+        .duty = 0,
+        .hpoint = 0
+    };
+    ledc_channel_config(&pwmChannel);
+};
+
+void InfraredLED::turnOn(void){
+    InfraredLED::setState(true);
+};
+
+void InfraredLED::turnOff(void){
+    InfraredLED::setState(false);
+};
+
+void InfraredLED::setState(bool state){
+    ledc_set_freq(pwmSpeedMode,timer,1);
+    if (state) {
+        ledc_set_duty(pwmSpeedMode,channel,1023);
+    } else {
+        ledc_set_duty(pwmSpeedMode,channel,0);
+    }
+    ledc_update_duty(pwmSpeedMode,channel);
+    
+};
+
+void InfraredLED::sendFrequency(uint16_t frequency){
+    ledc_set_freq(pwmSpeedMode,timer,frequency);
+    ledc_set_duty(pwmSpeedMode,channel,512);
+    ledc_update_duty(pwmSpeedMode,channel);
+};

src/infraredLight/InfraredLight.cpp

@@ -0,0 +1,6 @@
+#include "InfraredLight.h"
+
+void InfraredLight::begin(void){
+    bottom.begin();
+    front.begin();
+}

src/infraredLight/InfraredLight.h

@@ -0,0 +1,73 @@
+/**
+ * @file InfraredLight.h
+ * @author Hans Haupt (hans.haupt@dezibot.de)
+ * @brief Provides basic controls for the infrared LEDs of the robot.
+ * @version 0.1
+ * @date 2024-04-27
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+#ifndef InfraredLight_h
+#define InfraredLight_h
+#include <stdint.h>
+#include <Arduino.h>
+#include "driver/ledc.h"
+
+enum IRLeds{
+    Bottom,
+    Front
+};
+
+class InfraredLED{
+    public: 
+        InfraredLED(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
+        void begin(void);
+        /**
+         * @brief enables selected LED
+         * 
+         * @param led 
+         */
+        void turnOn(void);
+        /**
+         * @brief disables selected LED
+         * 
+         * @param led 
+         */
+        void turnOff(void);
+        /**
+         * @brief changes state of selected LED depending on the state
+         * 
+         * @param led which led will be affected
+         * @param state true if led should be turned on, else false
+         */
+        void setState(bool state);
+        /**
+         * @brief starts flashing the IRLed with a specific frequency 
+         * Won't stop automatically, must be stopped by calling any other IR-Method
+         * 
+         * @param frequency 
+         */
+        void sendFrequency(uint16_t frequency);
+    protected:
+        uint8_t ledPin;
+        ledc_timer_t timer;
+        ledc_channel_t channel;
+        ledc_timer_config_t pwmTimer;
+        ledc_channel_config_t pwmChannel;
+};
+
+class InfraredLight{
+public:
+    //Do something for correct resource sharing
+    InfraredLED bottom = InfraredLED(IRBottomPin,LEDC_TIMER_0,LEDC_CHANNEL_0);
+    InfraredLED front  = InfraredLED(IRFrontPin,LEDC_TIMER_1,LEDC_CHANNEL_1);
+    void begin(void);
+
+protected:
+    static const uint8_t IRFrontPin = 14;
+    static const uint8_t IRBottomPin = 13;
+};
+
+
+#endif //InfraredLight_h