From c1c0a4eb5e66940c8e36cbb66167aa554b01ab07 Mon Sep 17 00:00:00 2001 From: Jimmy Date: Sat, 20 Nov 2021 11:46:48 +1300 Subject: [PATCH] Inital commit --- .gitignore | 5 +++ .vscode/extensions.json | 7 ++++ include/README | 39 ++++++++++++++++++++ lib/README | 46 +++++++++++++++++++++++ main.py | 82 +++++++++++++++++++++++++++++++++++++++++ motor.py | 34 +++++++++++++++++ platformio.ini | 14 +++++++ src/main.cpp | 76 ++++++++++++++++++++++++++++++++++++++ src/motor.cpp | 24 ++++++++++++ src/motor.h | 9 +++++ test/README | 11 ++++++ 11 files changed, 347 insertions(+) create mode 100644 .gitignore create mode 100644 .vscode/extensions.json create mode 100644 include/README create mode 100644 lib/README create mode 100644 main.py create mode 100644 motor.py create mode 100644 platformio.ini create mode 100644 src/main.cpp create mode 100644 src/motor.cpp create mode 100644 src/motor.h create mode 100644 test/README diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..0f0d740 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,7 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ] +} diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/main.py b/main.py new file mode 100644 index 0000000..59bc845 --- /dev/null +++ b/main.py @@ -0,0 +1,82 @@ +from machine import Pin +from machine import PWM +from time import sleep + +class Motor: + def __init__(self, dirpin, speedpin): + self.dirpin = Pin(dirpin, Pin.OUT) + self.speedpin = PWM(Pin(speedpin)) + print(self.speedpin.freq(50)) + print(self.speedpin.duty()) + + def off(self): + self.dirpin.off() + self.speedpin.duty(0) + + def forward(self, speed): + self.dirpin.off() + self.speedpin.duty(speed) + + def reverse(self, speed): + self.dirpin.on() + self.speedpin.duty(1023-speed) + + +sensorpins = [15, 2, 4, 16, 17, 5, 18] +sensors = [] + +for i, pin in enumerate(sensorpins): + print(pin) + sensors.append(Pin(pin, Pin.IN)) + print(sensors[i]) + +left = Motor(1, 3) +right = Motor(22, 23) + +left.off() +right.off() + +#left.forward(512) +#right.reverse(512) + +print("Started") +#left.off() +#right.on() + +try: + # while True: + # if sensors[0].value() == 1: + # print("Left") + # left.off() + # right.forward(400) + # if sensors[1].value() == 1: + # left.forward(300) + # right.forward(600) + + # if sensors[2].value() == 1: + # left.forward(400) + # right.forward(800) + + # if sensors[3].value() == 1: + # left.forward(800) + # right.forward(800) + # print("Forward") + + # if sensors[4].value() == 1: + # left.forward(800) + # right.forward(400) + + # if sensors[5].value() == 1: + # left.forward(600) + # right.forward(300) + + # if sensors[6].value() == 1: + # print("Right") + # left.forward(400) + # right.off() + + pass +finally: + left.off() + right.off() + diff --git a/motor.py b/motor.py new file mode 100644 index 0000000..15b57fd --- /dev/null +++ b/motor.py @@ -0,0 +1,34 @@ +from machine import Pin +from machine import PWM + + +class Motor: + def __init__(self, dirpin, speedpin): + self.dirpin = Pin(dirpin, Pin.OUT) + self.speedpin = PWM(Pin(speedpin)) + + def stop(self): + self.dirpin.off() + self.speedpin.duty(0) + + def forward(self, speed): + self.dirpin.off() + self.speedpin.duty(speed) + + def backward(self, speed): + self.dirpin.on() + self.speedpin.duty(1023-speed) + + +if __name__ == "__main__": + left = Motor(26, 25) + right = Motor(32, 33) + + left.forward(2000) + right.forward(2000) + try: + while True: + pass + finally: + left.stop() + right.stop() \ No newline at end of file diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..c4b493e --- /dev/null +++ b/platformio.ini @@ -0,0 +1,14 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:esp32doit-devkit-v1] +platform = espressif32 +board = esp32doit-devkit-v1 +framework = arduino diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..4668534 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,76 @@ +#include +#include "motor.h" + +char sensorpins[] = {13, 14, 27, 26, 25, 33, 32}; +int values[7]; +int average; +int threshold = 500; + +Motor left(22, 23, 0); +Motor right(19, 21, 1); +void setup() { + // put your setup code here, to run once: + Serial.begin(9600); + // pinMode(22, OUTPUT); + // pinMode(23, OUTPUT); + // pinMode(19, OUTPUT); + // pinMode(21, OUTPUT); + // digitalWrite(22, LOW); + // digitalWrite(23, LOW); + // digitalWrite(19, LOW); + // digitalWrite(21, LOW); + left.forward(255); + right.forward(255); +} + +void loop() { + // put your main code here, to run repeatedly: + static int leftspeed = 0; + static int rightspeed = 0; + for(int i=0;i<7;i++) { + values[i] = analogRead(sensorpins[i]); + average += values[i]; + average >>= 1; + //Serial.printf("%i ", values[i]); + if(values[i] > average + threshold ) { + Serial.print(" 1 "); + } else { + Serial.print(" 0 "); + } + } + + // if(values[0] > average + threshold) { + // right.forward(63); + // left.forward(0); + // } + // // if(values[1] > average + threshold) { + // // right.forward(255); + // // left.forward(63); + // // } + // // if(values[2] > average + threshold) { + // // right.forward(255); + // // left.forward(127); + // // } + // if(values[3] > average + threshold) { + // left.forward(63); + // right.forward(63); + // } + // // if(values[4] > average + threshold) { + // // left.forward(63); + // // right.forward(32); + // // } + // // if(values[5] > average + threshold) { + // // left.forward(); + // // right.forward(63); + // // } + // if(values[6] > average + threshold) { + // left.forward(63); + // right.forward(0); + // } + + + Serial.printf("\r"); + //delay(1000); + + +} diff --git a/src/motor.cpp b/src/motor.cpp new file mode 100644 index 0000000..ae40c15 --- /dev/null +++ b/src/motor.cpp @@ -0,0 +1,24 @@ +#include "motor.h" + +#include + +Motor::Motor(int dir, int speed, int chanel) { + this->dirpin = dir; + this->speedpin = speed; + this->channel = chanel; + ledcSetup(chanel, 500, 8); + ledcAttachPin(speed, chanel); + pinMode(dir, OUTPUT); + digitalWrite(dirpin, LOW); +} + +void Motor::forward(int speed) { + digitalWrite(this->dirpin, LOW); + ledcWrite(this->channel, speed); +} + +void Motor::reverse(int speed) { + digitalWrite(this->dirpin, HIGH); + ledcWrite(this->channel, 255-speed); +} + diff --git a/src/motor.h b/src/motor.h new file mode 100644 index 0000000..09618a2 --- /dev/null +++ b/src/motor.h @@ -0,0 +1,9 @@ +#pragma once + +class Motor { + int dirpin, speedpin, channel; + public: + Motor(int, int, int); + void forward(int speed); + void reverse(int speed); +}; \ No newline at end of file diff --git a/test/README b/test/README new file mode 100644 index 0000000..b94d089 --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Unit Testing and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/page/plus/unit-testing.html