135 lines
3.0 KiB
C++
135 lines
3.0 KiB
C++
#include<Arduino.h>
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#include <Wire.h>
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#include "WEMOS_Motor.h"
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//follow firmware flash guide for new wemos motor shield v1.0 https://github.com/thomasfredericks/wemos_motor_shield
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#define BUTTON_DEBOUNCE 200
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#define PIN_BUTTON D5
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unsigned long last_pin_button=0;
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bool pin_button_down=0;
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bool last_pin_button_down=0;
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bool manual_drive_direction=false;
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#define PIN_SENSE A0
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unsigned long last_print=0;
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#define SENSE_CLEAR_LOWER 40 //adc value lower limit for clear part. clear is around 70
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#define SENSE_CLEAR_UPPER 100 //adc value upper limit for clear part
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#define SENSE_OPAQUE_LOWER 600 //adc value lower limit for opaque part. opaque is around 675
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#define SENSE_OPAQUE_UPPER 750 //adc value upper limit for opaque part
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#define SENSE_END_LOWER 850 //adc value lower limit for end marker
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#define SENSE_END_UPPER 1024 //adc value upper limit for end marker
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//define directions for motors
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#define _M1_UP = _CCW;
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#define _M1_DOWN = _CW;
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#define _M2_UP = _CCW;
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#define _M2_DOWN = _CW;
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int pwm;
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//Motor shield default I2C Address: 0x30
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//PWM frequency: 1000Hz(1kHz)
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Motor M1(0x30, _MOTOR_A, 1000); //Motor A
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Motor M2(0x30, _MOTOR_B, 1000); //Motor B
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void setup() {
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Serial.begin(57600);
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Serial.println("Starting demo");
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pinMode(PIN_BUTTON, INPUT_PULLUP);
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pinMode(PIN_SENSE, INPUT);
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M1.setmotor(_STOP);
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M2.setmotor(_STOP);
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pwm=100;
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}
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void loop() {
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if (millis() > last_pin_button + BUTTON_DEBOUNCE) {
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bool new_pin_button_down=!digitalRead(PIN_BUTTON);
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if (pin_button_down != new_pin_button_down) { //changed
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pin_button_down = new_pin_button_down; //update
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last_pin_button=millis(); //delay next check
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}
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}
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if (pin_button_down) { //button currently pressed
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if (last_pin_button_down!=pin_button_down) { //value changed. executed one time when entering if
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if (manual_drive_direction) {
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M1.setmotor( _CW, pwm);
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Serial.print("CW PWM: ");
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}else{
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M1.setmotor( _CCW, pwm);
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Serial.print("CCW PWM: ");
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}
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Serial.println(pwm);
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manual_drive_direction=!manual_drive_direction; //switch direction every new press
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}
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}else{
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if (last_pin_button_down!=pin_button_down) { //value changed
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Serial.println("Motor STOP");
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M1.setmotor(_STOP);
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}
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}
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last_pin_button_down=pin_button_down;
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if (millis() > last_print + 100) {
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int sense=analogRead(PIN_SENSE);
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Serial.println(sense);
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last_print=millis();
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}
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}
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/*
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void loop() {
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int pwm;
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for (pwm = 0; pwm <= 100; pwm++)
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{
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M1.setmotor( _CW, pwm);
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M2.setmotor(_CW, pwm);
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Serial.print("Clockwise PWM: ");
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Serial.println(pwm);
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delay(100);
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}
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Serial.println("Motor STOP");
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M1.setmotor(_STOP);
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M2.setmotor( _STOP);
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delay(1000);
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for (pwm = 0; pwm <= 100; pwm++)
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{
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M1.setmotor(_CCW, pwm);
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//delay(1);
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M2.setmotor(_CCW, pwm);
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Serial.print("Counterclockwise PWM: ");
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Serial.println(pwm);
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delay(100);
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}
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Serial.println("Motor A&B STANDBY");
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M1.setmotor(_STANDBY);
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M2.setmotor( _STANDBY);
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delay(1000);
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}
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*/ |