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KemaDrive.cpp
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KemaDrive.cpp
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// (c) https://vk.com/myrobotics
#include "Arduino.h"
#include "KemaDrive.h"
KemaDrive::KemaDrive()
{
_in11 = 27; //back L
_in12 = 29; //back L
_in21 = 26; //back R
_in22 = 28; //back R
_in31 = 51; //front L
_in32 = 53; //front L
_in41 = 50; //front R
_in42 = 52; //front R
_enA1 = 2; //front R
_enB1 = 3; //front L
_enA2 = 4; //back R
_enB2 = 5; //back L
pinMode(_in11, OUTPUT);
pinMode(_in12, OUTPUT);
pinMode(_in21, OUTPUT);
pinMode(_in22, OUTPUT);
pinMode(_in31, OUTPUT);
pinMode(_in32, OUTPUT);
pinMode(_in41, OUTPUT);
pinMode(_in42, OUTPUT);
pinMode(_enA1, OUTPUT);
pinMode(_enB1, OUTPUT);
pinMode(_enA2, OUTPUT);
pinMode(_enB2, OUTPUT);
stop();
}
void KemaDrive::move(int speed)
{
if(speed == 0)
stop();
if(speed > 0)
{
movFwdR(speed);
movFwdL(speed);
}
if(speed < 0)
{
movBckR(abs(speed));
movBckL(abs(speed));
}
}
void KemaDrive::stop()
{
digitalWrite(_in11, LOW);
digitalWrite(_in12, LOW);
digitalWrite(_in21, LOW);
digitalWrite(_in22, LOW);
digitalWrite(_in31, LOW);
digitalWrite(_in32, LOW);
digitalWrite(_in41, LOW);
digitalWrite(_in42, LOW);
}
void KemaDrive::movBckR(int speed)
{
int valSpeed = speed*20 + 20;
digitalWrite(_in41, HIGH);
digitalWrite(_in42, LOW);
digitalWrite(_in21, HIGH);
digitalWrite(_in22, LOW);
analogWrite(_enA1, valSpeed);
analogWrite(_enA2, valSpeed);
}
void KemaDrive::movBckL(int speed)
{
int valSpeed = speed*20 + 20;
digitalWrite(_in31, LOW);
digitalWrite(_in32, HIGH);
digitalWrite(_in11, HIGH);
digitalWrite(_in12, LOW);
analogWrite(_enB1, valSpeed);
analogWrite(_enB2, valSpeed);
}
void KemaDrive::movFwdR(int speed)
{
int valSpeed = speed*20 + 20;
digitalWrite(_in41, LOW);
digitalWrite(_in42, HIGH);
digitalWrite(_in21, LOW);
digitalWrite(_in22, HIGH);
analogWrite(_enA1, valSpeed);
analogWrite(_enA2, valSpeed);
}
void KemaDrive::movFwdL(int speed)
{
int valSpeed = speed*20 + 20;
digitalWrite(_in31, HIGH);
digitalWrite(_in32, LOW);
digitalWrite(_in11, LOW);
digitalWrite(_in12, HIGH);
analogWrite(_enB1, valSpeed);
analogWrite(_enB2, valSpeed);
}
void KemaDrive::turn(int ang, int curSpeed)
{
if(ang == 0)
turnReset(curSpeed);
if((ang > 0)&&(curSpeed > 0))
movFwdL(curSpeed + ang);
if((ang < 0)&&(curSpeed > 0))
movFwdR(curSpeed + abs(ang));
if((ang > 0)&&(curSpeed < 0))
movBckL(abs(curSpeed) + ang);
if((ang < 0)&&(curSpeed < 0))
movBckR(abs(curSpeed) + abs(ang));
}
void KemaDrive::turnReset(int curSpeed)
{
move(curSpeed);
}