Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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44 lines
1.6 KiB
44 lines
1.6 KiB
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#include <MX1508.h>
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#define PINA 9
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#define PINB 10
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#define NUMPWM 2
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// MX1508 schematics(in Chinese) can be found here at: http://sales.dzsc.com/486222.html
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/*
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* MX1508(uint8_t pinIN1, uint8_t pinIN2, DecayMode decayMode, NumOfPwmPins numPWM);
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* DecayMode must be FAST_DECAY or SLOW_DECAY,
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* NumOfPwmPins, either use 1 or 2 pwm.
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* I recommend using 2 pwm pins per motor so spinning motor forward and backward gives similar response.
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* if using 1 pwm pin, make sure its pinIN1, then set pinIN2 to any digital pin. I dont recommend this setting because
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* we need to use FAST_DECAY in one direction and SLOW_DECAY for the other direction.
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*/
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MX1508 motorA(PINA,PINB, FAST_DECAY, NUMPWM);
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void setup() {
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Serial.begin(115200);
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}
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/*
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* Ramp up to pwm = 100, by increasing pwm by 1 every 50 millisecond.
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* then ramp down to pwm = -100, by decreasing pwm every 50 millisecond.
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* positive value pwm results in forward direction.
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* negative value pwm results in opposite direction.
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*/
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void loop() {
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// put your main code here, to run repeatedly:
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static unsigned long lastMilli = 0;
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static bool cwDirection = true; // assume initial direction(positive pwm) is clockwise
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static int pwm = 1;
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if(millis()-lastMilli > 50){ // every 50 millisecond
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if (cwDirection && pwm++ > 100 ) {
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cwDirection = false;
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} else if (!cwDirection && pwm-- < -100) {
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cwDirection = true;
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}
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motorA.motorGo(pwm);
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lastMilli = millis();
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Serial.println(motorA.getPWM()); // we can just print pwm but just showing that member function getPWM() works.
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}
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}
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