phillip/dezibot
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introduced possibility to run move commands without timelimit

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This commit is contained in:
hhaupt 2024-04-28 22:38:35 +02:00
parent 45977c95b9
commit c8f7e95363
6 changed files with 78 additions and 55 deletions
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18
example/example.ino
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@ -1,18 +0,0 @@
#include <Dezibot.h>
Dezibot dezibot = Dezibot();
const uint8_t MYFOO = 10;
void setup() {
dezibot.begin();
}
void loop() {
dezibot.multiColorLight.setLed(TOP_LEFT,0x000000FF);
dezibot.multiColorLight.setLed(TOP_RIGHT,dezibot.multiColorLight.color(0,100,0));
dezibot.multiColorLight.blink(10,0x00FF0000,BOTTOM,500);
delay(1000);
dezibot.multiColorLight.turnOff(ALL);
delay(1000);
}

19
example/example/example.ino Normal file
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@ -0,0 +1,19 @@
#include <Dezibot.h>
Dezibot dezibot = Dezibot();
const uint8_t MYFOO = 10;
void setup() {
dezibot.begin();
}
void loop() {
dezibot.motion.move();
delay(1000);
dezibot.motion.rotateAntiClockwise();
delay(1000);
dezibot.motion.rotateClockwise();
delay(1000);
dezibot.motion.stop();
delay(1000);
}

0
example/motion.ino → example/motion/motion.ino
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5
example/plain.cpp
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@ -1,5 +0,0 @@
#include "Dezibot.h"
int main(){
return 0;
}

62
src/motion/Motion.cpp
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@ -1,6 +1,6 @@
/**
* @file Motion.cpp
* @author Jonathan Schulze, Nick Hübenthal
* @author Jonathan Schulze, Nick Hübenthal, Hans Haupt
* @brief Implementation of the Motion class.
* @version 0.1
* @date 2023-12-13
@ -15,49 +15,67 @@ TaskHandle_t xMoveTaskHandle = NULL;
TaskHandle_t xClockwiseTaskHandle = NULL;
TaskHandle_t xAntiClockwiseTaskHandle = NULL;
// Constructor
Motion::Motion() {
}
// Initialize the movement component.
void Motion::begin(void) {
}
void moveTask(void * args) {
analogWrite(MOTOR_LEFT_PIN, 128);
analogWrite(MOTOR_RIGHT_PIN, 128);
};
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 leftMotorTask(void * args) {
analogWrite(MOTOR_LEFT_PIN, 128);
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) {
xTaskCreate(leftMotorTask, "LeftMotor", 4096, (void*)rotateForMs, 10, &xClockwiseTaskHandle);
}
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 rightMotorTask(void * args) {
analogWrite(MOTOR_RIGHT_PIN, 128);
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) {
xTaskCreate(rightMotorTask, "RightMotor", 4096, (void*)rotateForMs, 10, &xAntiClockwiseTaskHandle);
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);
}

29
src/motion/Motion.h
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@ -16,17 +16,17 @@
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
const int MOTOR_RIGHT_PIN = 11;
const int MOTOR_LEFT_PIN = 12;
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:
Motion();
/**
* @brief Initialize the movement component.
*
@ -35,21 +35,30 @@ public:
/**
* @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.
*/
void move(uint32_t moveForMs);
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.
*/
void rotateClockwise(uint32_t rotateForMs);
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.
*/
void rotateAnticlockwise(uint32_t rotateForMs);
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