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new file motor

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wombatstring 2022-04-04 19:14:11 +00:00
parent 9a51caa5f2
commit b059803fdc
1 changed files with 0 additions and 120 deletions
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arduino_maze/motorControl.ino
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@ -1,120 +0,0 @@
// 3.6 2 amps
const int rangeSTick = 1023; // 0 is bottom
const int reangle = 45, angleRange = 90; // 0 is bottom
const float transformDesireToAngle = .09; // tranpoe
const int stillJoystick = 511;
const int deadband = 10;
const int motorPulseDelay = 500;
const float angleChange = 1.8;
float x = 0, y = 0; //angle of current postion
class MotorControl
{
public:
float currentPostion;
float goPostion;
int pastDesire = stillJoystick;
bool reset;
bool isButtonPressed;
int whichButton;
int dire, puls;
MotorControl(int dire, int puls)
{
pinMode(dire,OUTPUT);
pinMode(puls,OUTPUT);
direct = dire;
pulse = puls;
yIsNo = isX;
currentPostion = reangle;
}
void whatToDo(int desire)
{
if (desire < 0)
button = desire * -1;
else
goto yeet;
switch (button)
{
case default:
goto yeet;
case 1:
goto caseEnd;
case 2:
goto caseEnd;
case 3:
goto caseEnd;
case 4:
goto caseEnd;
case 5:
goto caseEnd;
case 6:
goto caseEnd;
case 7:
caseEnd:
button = 0;
goto skip;
}
yeet:
if(desire > (pastDesire + 10) || desire < (pastDesire - 10)) // noise from constant stick upload
{
goPostion = tranpose();
pastdesire = desire;
}
// two pins
if(goPostion > (currentpostion + 5.0))
{
digitalWrite(direct, HIGH);
currentpostion += angleChange;
digitalWrite(pulse,HIGH);
delayMicroseconds(motorPulseDelay);
digitalWrite(pulse,LOW);
delayMicroseconds(motorPulseDelay);
}
break;
if((currentpostion - 5.0) > goPostion)
{
digitalWrite(direct, LOW);
currentpostion -= angleChange;
digitalWrite(pulse,HIGH);
delayMicroseconds(motorPulseDelay);
digitalWrite(pulse,LOW);
delayMicroseconds(motorPulseDelay);
}
}
float tranpose()
{
int temp = desire * transformDesireToAngle;
return temp;
}
void calibrate()
{
currentpostion = reangle;
goPostion = reangle
}
}
// defines pins numbers
const int stepPinM1 = 3; // motor 1
const int dirPinM1 = 5;
const int stepPinM2 = 6; // motor 2
const int dirPinM2 = 9;
MotorControl xMotor(stepPinM1, dirPinM1)
MotorControl yMotor(stepPinM2, dirPinM2)
void setup() {
}
void loop() {
xMotor.whatToDo();// angle
yMotor.whatToDo();// angle
skip:
}