Primo oggetto per drive, con un solo metodo

[rover] / libraries / rover / rover.cpp

diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index 363d5909e91e2a73d65a4505582ac0949fc6ff53..b2087284706e09d85f8feee1b298663d1a1a3dc3 100644 (file)
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -13,6 +13,119 @@ Licenza:    GPLv3
 
 #define dEBUG
 
-//////////////////
+// motor one
+extern int enA = 6;
+extern int in1 = 7;
+extern int in2 = 8;
+extern byte speedA = 255;
+// motor two
+extern int enB = 5;
+extern int in3 = 4;
+extern int in4 = 3;
+extern byte speedB = 255;
+
+// Oggetti
+car::car () {
+// Abilita i PINs come OUTPUTS
+    pinMode(_enA, OUTPUT);
+    pinMode(_in1, OUTPUT);
+    pinMode(_in2, OUTPUT);
+    pinMode(_enB, OUTPUT);
+    pinMode(_in3, OUTPUT);
+    pinMode(_in4, OUTPUT);
+    velA = speedA;
+    velB = speedB;
+}
+
+void car::avanti () {
+// Motor A
+    digitalWrite(_in1,LOW);
+    digitalWrite(_in2,HIGH);
+    analogWrite(_enA,velA);
+// Motor B
+    digitalWrite(_in3,LOW);
+    digitalWrite(_in4,HIGH);
+    analogWrite(_enB,velB);
+}
+
+
 // Funzioni
 
+void abilita() {
+// Abilita i PINs come OUTPUTS
+    pinMode(enA, OUTPUT);
+    pinMode(in1, OUTPUT);
+    pinMode(in2, OUTPUT);
+    pinMode(enB, OUTPUT);
+    pinMode(in3, OUTPUT);
+    pinMode(in4, OUTPUT);
+}
+
+
+// MotorA
+void forwardA() {
+    // Avanzamento motore
+    digitalWrite(in1,LOW);
+    digitalWrite(in2,HIGH);
+    analogWrite(enA,speedA);
+}
+
+void forwardA(byte speedA) {
+    // Avanzamento motore
+    digitalWrite(in1,LOW);
+    digitalWrite(in2,HIGH);
+    analogWrite(enA,speedA);
+}
+
+void backwardA() {
+    // Reverse motore
+    digitalWrite(in2,LOW);
+    digitalWrite(in1,HIGH);
+    analogWrite(enA,speedA);
+}
+
+void backwardA(byte speedA) {
+    // Reverse motore
+    digitalWrite(in2,LOW);
+    digitalWrite(in1,HIGH);
+    analogWrite(enA,speedA);
+}
+
+void stopA() {
+    // Stop
+    digitalWrite(enA,LOW);
+}
+
+// MotorB
+void forwardB() {
+    // Avanzamento motore
+    digitalWrite(in3,LOW);
+    digitalWrite(in4,HIGH);
+    analogWrite(enB,speedB);
+}
+
+void forwardB(byte speedB) {
+    // Avanzamento motore
+    digitalWrite(in3,LOW);
+    digitalWrite(in4,HIGH);
+    analogWrite(enB,speedB);
+}
+
+void backwardB() {
+    // Reverse motore
+    digitalWrite(in4,LOW);
+    digitalWrite(in3,HIGH);
+    analogWrite(enB,speedB);
+}
+
+void backwardB(byte speedB) {
+    // Reverse motore
+    digitalWrite(in4,LOW);
+    digitalWrite(in3,HIGH);
+    analogWrite(enB,speedB);
+}
+
+void stopB() {
+    // Stop
+    digitalWrite(enB,LOW);
+}