Motortreiber Lib added

.~lock.ideen_mechanik_und_elektronik.odt#

@@ -1 +1 @@
-,yves,yves-UB,03.02.2020 23:03,file:///home/yves/.config/libreoffice/4;
+,yves,yves-UB,05.02.2020 13:15,file:///home/yves/.config/libreoffice/4;

Code/libraries/L298N/L298N.cpp

@@ -0,0 +1,57 @@
+#include "L298N.h"
+
+ L298N::L298N() {
+   DDR_A |= PIN_A;
+   PORT_A &= ~PIN_A;
+   DDR_B |= PIN_B;
+   PORT_B &= ~PIN_B;
+
+   DDRB |= 6;		//set OC1A and OC1B as output
+   PORTB &= ~6;		//clear OC1A and OC1B
+
+   //
+   TCCR1A = 0; // set TCCRXA register to 0
+   TCCR1B = 0; // set TCCRXB register to 0
+   TCNT1  = 0; // reset counter value
+
+   //OC1B behaviour
+   TCCR1A |= (1 << COM1B1);
+   //OCC1A behaviour
+   TCCR1A |= (1 << COM1A1);
+   TCCR1A |= (1 << WGM10);
+
+   // 1:1, 62.5kHz
+   TCCR1B |= (1 << CS10);
+
+   TCCR1B |= (1 << WGM12);
+   //enable timer
+   TIMSK1 = 0;		//no Interrupts
+ }
+ L298N::setPWM_A(int16_t pwmA) {
+   if(pwmA < 0) {
+     PWMA = 0xFF + pwmA;
+     PORT_A |= PIN_A;
+   } else {
+     if(pwmA == 0) {
+       PWMA = 0;
+       PORT_A &= ~PIN_A;
+     } else {
+       PWMA = pwmA;
+       PORT_A &= ~PIN_A;
+     }
+   }
+ }
+ L298N::setPWM_B(int16_t pwmB) {
+   if(pwmB < 0) {
+     PWMB = 0xFF + pwmB;
+     PORT_B |= PIN_B;
+   } else {
+     if(pwmB == 0) {
+       PWMB = 0;
+       PORT_B &= ~PIN_B;
+     } else {
+       PWMB = pwmB;
+       PORT_B &= ~PIN_B;
+     }
+   }
+ }

Code/libraries/L298N/L298N.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#ifndef L298N_h
+#define L298N_h
+
+#include <Arduino.h>
+
+#define PIN_A 0x01
+#define PORT_A PORTB
+#define DDR_A DDRB
+#define PIN_B 128
+#define PORT_B PORTD
+#define DDR_B DDRD
+
+#define PWMA OCR1B
+#define PWMB OCR1A
+
+class L298N {
+ public:
+  L298N();
+  setPWM_A(int16_t pwmA);
+  setPWM_B(int16_t pwmB);
+
+ //private:
+
+};
+
+#endif

Code/libraries/L298N/keywords.txt

@@ -0,0 +1,22 @@
+#########################################
+# Syntax Coloring Map For L298N Library
+#########################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+L298N       KEYWORD1
+
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+setPWMA        KEYWORD2
+setPWMB        KEYWORD2
+
+
+#######################################
+# Constants (LITERAL1)
+#######################################

Code/miniRobot/miniRobot.ino

@@ -37,14 +37,14 @@ const byte address[6] = "00001";
 #include <L298N.h>
 
 #define BEEP 14
-
+/*
 #define PWM_PINA 10
 #define PINA 8
 #define PWM_PINB 9
 #define PINB 7
 #define NUMPWM 1
 
-#define RESOLUTION 255
+#define RESOLUTION 255 */
 
 //MX1508 motorA(PWM_PINA,PINA, FAST_DECAY, NUMPWM);
 //MX1508 motorB(PWM_PINB,PINB, FAST_DECAY, NUMPWM);