Library barchetta

diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index 363d5909e91e2a73d65a4505582ac0949fc6ff53..5328a02bf8328a8388edabac9e4c724faa7d2e70 100644 (file)
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -13,6 +13,66 @@ Licenza:    GPLv3
 
 #define dEBUG
 
-//////////////////
+// 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;
 // 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);
+}
+
+
+// MotorB
+void forwardA() {
+    // 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 stopA() {
+    // Stop
+    digitalWrite(enA,LOW);
+}
+
+// MotorB
+void forwardB() {
+    // 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 stopB() {
+    // Stop
+    digitalWrite(enB,LOW);
+}

diff --git a/libraries/rover/rover.h b/libraries/rover/rover.h
index acde54fcf86c59cc804a688e58a8c67044f23972..13e1be3a8b8572719bf65e3ec136a64379b0fa18 100644 (file)
--- a/libraries/rover/rover.h
+++ b/libraries/rover/rover.h
@@ -13,41 +13,17 @@ Licenza:    GPLv3
 #ifndef rover_h
 #define rover_h
 
-//////////////////////
-// OBJ
-
-
-class engine {
-// Gestione di un singolo motore
-private:
-    byte enablePIN1;
-    byte enablePIN2;
-    byte min;   // Minimo per partire
-    byte val;   // 8bit PWM
-
-public:
-    Engine (byte PIN1, byte PIN2, byte PINPWM);
-    void Forward ();
-    void Backward ();
-    void SetSpeed (); // imposta un valore preciso per il PWM
-
-}
-
-class motors {
-// classe composta da due engines
-// Composition is better than inheritance here
-
-public:
-    motors (engine enginesx, engine enginedx) {
-    void Forward ();
-    void Backward ();
-    void TurnLeft ();
-    void TurnRight ();
-    void TurnU ();
-}
-}
-//////////////////////
+// Global vars
+
+
 // Funzioni
 
+void abilita() ;
+void forwardA() ;
+void backwardA() ;
+void stopA() ;
+void forwardB() ;
+void backwardB() ;
+void stopB() ;
 
 #endif