Sistemati gli include della lib Servo.h

[rover] / libraries / rover / rover.cpp

diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index 363d5909e91e2a73d65a4505582ac0949fc6ff53..d95fe065190912808ab355e57e2843965a97bd73 100644 (file)
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -13,6 +13,123 @@ Licenza:    GPLv3
 
 #define dEBUG
 
-//////////////////
-// Funzioni
+// Configurazione con OUTPUT digitali
+// motor one
+const int enA = 6;
+const int in1 = 7;
+const int in2 = 8;
+byte speedA = 255;
+// motor two
+const int enB = 5;
+const int in3 = 4;
+const int in4 = 3;
+byte speedB = 255;
 
+// Servo vars
+int pos = 0;    // variable to store the servo position 
+const byte servoPIN =9 ;
+const byte middle = 90; // Centratura servo
+const int spausa = 30; // Pausa movimenti servo
+Servo myservo; // Non c'e' bisogno di extern se e' dichiarato in questo scope
+
+////////////////////////
+// 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);
+
+
+    pinMode(servoPIN, OUTPUT);
+    myservo.attach(servoPIN);
+}
+
+
+// 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);
+}
+
+// Servo
+void turnDX() {
+    // TurnDX
+    myservo.write(170);
+}
+    
+void turnSX() {
+    // TurnSX
+    myservo.write(10);
+}
+
+void turnMiddle() { 
+    // TurnDX
+    myservo.write(middle);
+}