Create main2.cpp

1 files changed, 215 insertions, 0 deletions

diff --git a/main2.cpp b/main2.cpp
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+++ b/main2.cpp
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+#include <TimerThree.h>
+
+//base code for six direction driving
+
+int led = 13;
+
+int m1enA = 6;
+int m1enB = 5;
+int m1pwm1 = 4;
+int m1pwm2 = 3;
+int m1encoA = 32;
+int m1encoB = 31;
+
+int m2enA = 12;
+int m2enB = 11;
+int m2pwm1 = 9;
+int m2pwm2 = 10;
+int m2encoA = 30;
+int m2encoB = 29;
+
+int m3enA = 27;
+int m3enB = 26;
+int m3pwm1 = 24;
+int m3pwm2 = 25;
+int m3encoA = 28;
+int m3encoB = 23;
+
+int pwmacc = 1000; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
+int PWMval1 = 0; //value of the PWM, means you can enter value from 0 to the value of pwmacc
+int PWMval2 = 0;
+int PWMval3 = 0;
+
+
+void setup() {
+  pinMode(m1enA, OUTPUT);
+  pinMode(m1enB, OUTPUT);
+  pinMode(m1pwm1, OUTPUT);
+  pinMode(m1pwm2, OUTPUT);
+  
+  pinMode(m2enA, OUTPUT);
+  pinMode(m2enB, OUTPUT);
+  pinMode(m2pwm1, OUTPUT);
+  pinMode(m2pwm2, OUTPUT);
+  
+  pinMode(m3enA, OUTPUT);
+  pinMode(m3enB, OUTPUT);
+  pinMode(m3pwm1, OUTPUT);
+  pinMode(m3pwm2, OUTPUT);
+
+  Timer3.initialize(25);  // 800 microseconds or 1.25Hz
+  Timer3.attachInterrupt(updatePWM);
+
+  Serial.begin(9600);
+  Serial.print("start");
+  
+}
+
+void updatePWM() {
+  //1
+  static int counter = 0;
+  if (PWMval1 < 0) {
+    PWMval1 = 0;
+  }
+  if (PWMval1 > pwmacc) {
+    PWMval1 = pwmacc;
+  }
+
+  if (counter < PWMval1) {
+    digitalWrite(m1enA, HIGH);
+  } else {
+    digitalWrite(m1enA, LOW);
+  }
+
+  counter++;
+  if (counter >= pwmacc) {
+    counter = 0;
+  }
+
+  //2
+  static int counter2 = 0;
+  if (PWMval2 < 0) {
+    PWMval2 = 0;
+  }
+  if (PWMval2 > pwmacc) {
+    PWMval2 = pwmacc;
+  }
+
+  if (counter2 < PWMval2) {
+    digitalWrite(m2enA, HIGH);
+  } else {
+    digitalWrite(m2enA, LOW);
+  }
+
+  counter2++;
+  if (counter2 >= pwmacc) {
+    counter2 = 0;
+  }
+
+  //3
+  int static counter3 = 0;
+  if (PWMval3 < 0) {
+    PWMval3 = 0;
+  }
+  if (PWMval3 > pwmacc) {
+    PWMval3 = pwmacc;
+  }
+
+  if (counter3 < PWMval3) {
+    digitalWrite(m3enA, HIGH);
+  } else {
+    digitalWrite(m3enA, LOW);
+  }
+
+  counter3++;
+  if (counter3 >= pwmacc) {
+    counter3 = 0;
+  }
+}
+
+
+void drive(int speed, int direction){
+ //
+ // Direction............|.Motor 1.|.Motor 2.|.Motor 3.
+ // 0deg(forward)........|....0....|....-....|....+....
+ // 60deg................|....+....|....-....|....0....    
+ // 120deg...............|....+....|....0....|....-....
+ // 180 deg (backward)...|....0....|....+....|....-.... 
+ // 240 deg..............|....-....|....+....|....0....
+ // 300 deg..............|....-....|....0....|....+....
+ //
+
+  PWMval1 = speed;
+  PWMval2 = speed;
+  PWMval3 = speed;
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m2enB, LOW);
+  digitalWrite(m3enB, LOW);
+  Serial.println("debug2");
+  Serial.println(direction);
+  if(direction>330 || direction<=30){
+    //0 deg
+    digitalWrite(m1pwm1, HIGH);
+    digitalWrite(m1pwm2, LOW);
+
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, LOW);
+
+    digitalWrite(m3pwm1, HIGH);
+    digitalWrite(m3pwm2, LOW);
+    Serial.println("0 deg"); 
+  }else if (direction>30 && direction <= 90){
+    //60 deg
+    Serial.println("60deg");
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, LOW);
+
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, HIGH);
+    
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, HIGH);
+  }else if (direction>90 && direction <= 150){
+    //120 deg
+    Serial.println("120 deg");
+    digitalWrite(m1pwm1, HIGH);
+    digitalWrite(m1pwm2, LOW);
+    digitalWrite(m2pwm1, HIGH);
+    digitalWrite(m2pwm2, LOW);
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, LOW);
+  }else if (direction > 150 && direction <= 210) {
+    //180 degrees
+    Serial.println("on 180");
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, HIGH);
+
+    digitalWrite(m2pwm1, LOW);
+    digitalWrite(m2pwm2, LOW);
+    
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, HIGH);
+  }else if (direction > 210 && direction <= 270) {
+    //240 degrees
+    digitalWrite(m1pwm1, LOW);
+    digitalWrite(m1pwm2, LOW);
+
+    digitalWrite(m2pwm1, HIGH);
+    digitalWrite(m2pwm2, LOW);
+
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, HIGH);
+  }else if (direction > 270 && direction <= 330) {
+    //300 degrees
+    digitalWrite(m1pwm1, HIGH);
+    digitalWrite(m1pwm2, LOW);
+
+    digitalWrite(m2pwm1, HIGH);
+    digitalWrite(m2pwm2, LOW);
+
+    Serial.println("300deg");
+    digitalWrite(m3pwm1, LOW);
+    digitalWrite(m3pwm2, LOW);
+  }else{
+    Serial.println("how?");  
+  }
+}
+
+// the loop routine runs over and over again forever:
+void loop() {
+  
+  drive(600, 0);
+  Serial.println("ffor");
+  delay(1500);
+
+}