paar best vergeten

Signed-off-by: Abel Tim <git@abeltim.com>

11 files changed, 524 insertions, 0 deletions

diff --git a/code/debug/motors/3motor_PWM/.gitignore b/code/debug/motors/3motor_PWM/.gitignore
new file mode 100644
index 0000000..03f4a3c
--- /dev/null
+++ b/code/debug/motors/3motor_PWM/.gitignore
@@ -0,0 +1 @@
+.pio
diff --git a/code/debug/motors/3motor_PWM/include/README b/code/debug/motors/3motor_PWM/include/README
new file mode 100644
index 0000000..49819c0
--- /dev/null
+++ b/code/debug/motors/3motor_PWM/include/README
@@ -0,0 +1,37 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/code/debug/motors/3motor_PWM/lib/README b/code/debug/motors/3motor_PWM/lib/README
new file mode 100644
index 0000000..9379397
--- /dev/null
+++ b/code/debug/motors/3motor_PWM/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/code/debug/motors/3motor_PWM/platformio.ini b/code/debug/motors/3motor_PWM/platformio.ini
new file mode 100644
index 0000000..a13d034
--- /dev/null
+++ b/code/debug/motors/3motor_PWM/platformio.ini
@@ -0,0 +1,14 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:teensy41]
+platform = teensy
+board = teensy41
+framework = arduino
diff --git a/code/debug/motors/3motor_PWM/src/main.cpp b/code/debug/motors/3motor_PWM/src/main.cpp
new file mode 100644
index 0000000..c9753d5
--- /dev/null
+++ b/code/debug/motors/3motor_PWM/src/main.cpp
@@ -0,0 +1,215 @@
+#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);
+
+}
diff --git a/code/debug/motors/3motor_PWM/test/README b/code/debug/motors/3motor_PWM/test/README
new file mode 100644
index 0000000..9b1e87b
--- /dev/null
+++ b/code/debug/motors/3motor_PWM/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
diff --git a/code/debug/motors/3motor_test/include/README b/code/debug/motors/3motor_test/include/README
new file mode 100644
index 0000000..49819c0
--- /dev/null
+++ b/code/debug/motors/3motor_test/include/README
@@ -0,0 +1,37 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/code/debug/motors/3motor_test/lib/README b/code/debug/motors/3motor_test/lib/README
new file mode 100644
index 0000000..9379397
--- /dev/null
+++ b/code/debug/motors/3motor_test/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/code/debug/motors/3motor_test/platformio.ini b/code/debug/motors/3motor_test/platformio.ini
new file mode 100644
index 0000000..a13d034
--- /dev/null
+++ b/code/debug/motors/3motor_test/platformio.ini
@@ -0,0 +1,14 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:teensy41]
+platform = teensy
+board = teensy41
+framework = arduino
diff --git a/code/debug/motors/3motor_test/src/main.cpp b/code/debug/motors/3motor_test/src/main.cpp
new file mode 100644
index 0000000..24a4aff
--- /dev/null
+++ b/code/debug/motors/3motor_test/src/main.cpp
@@ -0,0 +1,92 @@
+//a test to test all motors, no PWM 
+#include <Arduino.h>
+
+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;
+
+
+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);
+  Serial.begin(9600);
+  Serial.print("debug 001");
+  
+}
+
+// the loop routine runs over and over again forever:
+void loop() {
+  digitalWrite(led, HIGH);
+  
+  digitalWrite(m1enA, HIGH);
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m1pwm1, HIGH);
+  digitalWrite(m1pwm2, LOW);
+  
+
+  digitalWrite(m2enA, HIGH);
+  digitalWrite(m2enB, LOW);
+  digitalWrite(m2pwm1, HIGH);
+  digitalWrite(m2pwm2, LOW);
+
+  digitalWrite(m3enA, HIGH);
+  digitalWrite(m3enB, LOW);
+  digitalWrite(m3pwm1, HIGH);
+  digitalWrite(m3pwm2, LOW);  
+  
+  delay(5000);             
+
+
+  digitalWrite(led, LOW);
+  
+  digitalWrite(m1enA, HIGH);
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m1pwm1, LOW);
+  digitalWrite(m1pwm2, LOW);
+
+  digitalWrite(m2enA, HIGH);
+  digitalWrite(m2enB, LOW);
+  digitalWrite(m2pwm1, LOW);
+  digitalWrite(m2pwm2, LOW);
+
+  digitalWrite(m3enA, HIGH);
+  digitalWrite(m3enB, LOW);
+  digitalWrite(m3pwm1, LOW);
+  digitalWrite(m3pwm2, LOW);
+  
+  
+  delay(5000);
+
+  
+}
\ No newline at end of file
diff --git a/code/debug/motors/3motor_test/test/README b/code/debug/motors/3motor_test/test/README
new file mode 100644
index 0000000..9b1e87b
--- /dev/null
+++ b/code/debug/motors/3motor_test/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html