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motors

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This commit is contained in:
Willem Oldemans
2023-11-04 21:24:11 +01:00
parent 0fda7b554c
commit 60cd485806
2 changed files with 6 additions and 11 deletions
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10
src/Motors.cpp
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@@ -7,9 +7,9 @@ Servo auxServo;
std::vector<MOTOR_PINS> motorPins = std::vector<MOTOR_PINS> motorPins =
{ {
{32, 33}, //RIGHT_MOTOR Pins (IN1, IN2) {RMOTOR_IN1, RMOTOR_IN2}, //RIGHT_MOTOR Pins (IN1, IN2)
{26, 25}, //LEFT_MOTOR Pins {LMOTOR_IN1, LMOTOR_IN2}, //LEFT_MOTOR Pins
{19, 22}, //ARM_MOTOR pins {ARM_IN1, ARM_IN2}, //ARM_MOTOR pins
}; };
void setUpPinModes() void setUpPinModes()
@@ -23,8 +23,8 @@ void setUpPinModes()
moveCar(STOP, false); moveCar(STOP, false);
bucketServo.attach(bucketServoPin); bucketServo.attach(bucketServoPin);
auxServo.attach(auxServoPin); auxServo.attach(auxServoPin);
auxControl(150); auxControl(default_auxControl);
bucketTilt(140); bucketTilt(default_bucketTilt);
} }
void rotateMotor(int motorNumber, int motorDirection) void rotateMotor(int motorNumber, int motorDirection)

7
src/motors.h
View File

@@ -4,7 +4,7 @@
#include <vector> #include <vector>
#include <ESP32Servo.h> //by Kevin Harrington #include <ESP32Servo.h> //by Kevin Harrington
#include "config.h"
#define RIGHT_MOTOR 1 #define RIGHT_MOTOR 1
#define LEFT_MOTOR 0 #define LEFT_MOTOR 0
@@ -13,10 +13,6 @@
#define FORWARD 1 #define FORWARD 1
#define BACKWARD -1 #define BACKWARD -1
#define bucketServoPin 23
#define auxServoPin 17
#define UP 1 #define UP 1
#define DOWN 2 #define DOWN 2
#define LEFT 3 #define LEFT 3
@@ -36,7 +32,6 @@ struct MOTOR_PINS
void setUpPinModes(); void setUpPinModes();
void moveCar(int inputValue, bool horizontal); void moveCar(int inputValue, bool horizontal);
//motor functions //motor functions
void rotateMotor(int motorNumber, int motorDirection); void rotateMotor(int motorNumber, int motorDirection);
void setMomentum(bool val); void setMomentum(bool val);