update repo structure

update poster
add code flowchart

1 files changed, 0 insertions, 258 deletions

diff --git a/motordriver/motordriver.ino b/motordriver/motordriver.ino
deleted file mode 100644
index 0fd30e7..0000000
--- a/motordriver/motordriver.ino
+++ /dev/null
@@ -1,258 +0,0 @@
-//moveohmi = https://robotics.stackexchange.com/questions/7829/how-to-program-a-three-wheel-omni
-
-
-#include <Adafruit_MCP23X17.h>
-
-// motor one
-int enA = 33;
-int in1 = 2;
-int in2 = 3;
-// motor two
-int enB = 36;
-int in3 = 4;
-int in4 = 5;
-// motor three
-int enC = 37;
-int in5 = 7;
-int in6 = 6;
-
-int sp = 160;
-
-double dirA = 0.00;
-double dirB = 0.00;
-double dirC = 0.00;
-double spdA = 0.00;
-double spdB = 0.00;
-double spdC = 0.00;
-double dirrad = 0.00;
-
-void setup()
-{
- // set all the motor control pins to outputs
- pinMode(enA, OUTPUT);
- pinMode(enB, OUTPUT);
- pinMode(enC, OUTPUT);
-
- pinMode(in1, OUTPUT);
- pinMode(in2, OUTPUT);
- pinMode(in3, OUTPUT);
- pinMode(in4, OUTPUT);
- pinMode(in5, OUTPUT);
- pinMode(in6, OUTPUT);
-}
-void demoOne()
-{
-// this function will run the motors in both directions at a fixed speed
-  // turn on motor A
-  digitalWrite(in1, HIGH);
-  digitalWrite(in2, LOW);
-  // set speed to 200 out of possible range 0~255
-  analogWrite(enA, sp);
-  // turn on motor B
-  digitalWrite(in3, HIGH);
-  digitalWrite(in4, LOW);
-  // set speed to 200 out of possible range 0~255
-  analogWrite(enB, sp);
-  // turn on motor c
-  digitalWrite(in5, HIGH);
-  digitalWrite(in6, LOW);
-  // set speed to 200 out of possible range 0~255
-  analogWrite(enC, sp);
-  delay(2000);
-  // now change motor directions
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, HIGH);
-  digitalWrite(in3, LOW);
-  digitalWrite(in4, HIGH);
-  digitalWrite(in5, LOW);
-  digitalWrite(in6, HIGH);
-  delay(2000);
-  // now turn off motors
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, LOW);
-  digitalWrite(in4, LOW);
-}
-void demoTwo()
-{
-  // this function will run the motors across the range of possible speeds
-  // note that maximum speed is determined by the motor itself and theoperating voltage
-  // the PWM values sent by analogWrite() are fractions of the maximumspeed possible
-  // by your hardware
-  // turn on motors
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, HIGH);
-  digitalWrite(in3, LOW);
-  digitalWrite(in4, HIGH);
-  digitalWrite(in5, LOW);
-  digitalWrite(in6, HIGH);
-  // accelerate from zero to maximum speed
-  for (int i = 0; i < 256; i++)
-  {
-    analogWrite(enA, i);
-    analogWrite(enB, i);
-    analogWrite(enC, i); 
-    delay(20);
-  }
-  // decelerate from maximum speed to zero
-  for (int i = 255; i >= 0; --i)
-  {
-    analogWrite(enA, i);
-    analogWrite(enB, i);
-    analogWrite(enC, i);
-    delay(20);
-  }
-  // now turn off motors
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, LOW);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, LOW);
-  digitalWrite(in6, LOW);
-}
-
-void Amove(int sped){
-  Serial.print("moving A ");
-  if (sped < 0) {
-    digitalWrite(in1, LOW);
-    digitalWrite(in2, HIGH);
-    Serial.print("back");
-  }
-  else{
-    digitalWrite(in1, HIGH);
-    digitalWrite(in2, LOW);
-    Serial.print("forward");
-  } 
-  Serial.print("with speed: ");
-  sp = abs(sped); 
-  analogWrite(enA, sp);
-  Serial.println(sp);
-}
-void Bmove(int sped) {
-  Serial.print("moving B ");
-  if (sped < 0) {
-    digitalWrite(in3, LOW);
-    digitalWrite(in4, HIGH);
-    Serial.print("back");
-  } else {
-    digitalWrite(in3, HIGH);
-    digitalWrite(in4, LOW);
-    Serial.print("forward");
-  } 
-  Serial.print("with speed: ");
-  int sp = abs(sped);
-  analogWrite(enB, sp);
-  Serial.println(sp);
-}
-void Cmove(int sped) {
-  Serial.print("moving C ");
-  if (sped < 0) {
-    digitalWrite(in5, LOW);
-    digitalWrite(in6, HIGH);
-    Serial.print("back");
-  } else {
-    digitalWrite(in5, HIGH);
-    digitalWrite(in6, LOW);
-    Serial.print("forward");
-  } 
-  Serial.print("with speed: ");
-  int sp = abs(sped);
-  analogWrite(enC, sp);
-  Serial.println(sp);
-}
-
-
-void turnoff(){
-  Serial.println("stop");
-  analogWrite(enA, 0);
-  analogWrite(enB, 0);
-  analogWrite(enC, 0);
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, LOW);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, LOW);
-  digitalWrite(in6, LOW); 
-}
-void forward(int speed){
-  Serial.println("forward");
-  analogWrite(enA, speed);
-  analogWrite(enB, speed);
-  analogWrite(enC, speed);
-  digitalWrite(in1, LOW);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, HIGH);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, HIGH);
-  digitalWrite(in6, LOW);
-}
-void turn(int speed){
-  Serial.println("turn");
-  analogWrite(enA, speed);
-  analogWrite(enB, speed);
-  analogWrite(enC, speed);
-  digitalWrite(in1, HIGH);
-  digitalWrite(in2, LOW);
-  digitalWrite(in3, HIGH);
-  digitalWrite(in4, LOW);
-  digitalWrite(in5, HIGH);
-  digitalWrite(in6, LOW);
-}
-
-void moveohmi(int speed, int direction){
-  turnoff();
-  double dirrad = (direction*71) / 4068;
-  dirA = 1.047198-dirrad; 
-  dirB = 3.141593-dirrad;
-  dirC = 5.235988-dirrad;
-  spdA = speed*sin(dirA);
-  spdB = speed*sin(dirB);
-  spdC = speed*sin(dirC);
-  Amove(spdA);
-  Bmove(spdB);
-  Cmove(spdC);
-}
-void beddermoveohmi(int speed, int direction){
-  turnoff();
-
-  double dirrad = (direction*71) / 4068;  
-  Serial.println(dirrad);
-  //vector ontb in x en y
-  double x = sin(dirrad)*speed;
-  double y = cos(dirrad)*speed;
-  Serial.println((String)"x:"+x+" y:"+y);
-  spdA = -0.5*x - sqrt(3)/2*y;
-  spdB = x;
-  spdC = -0.5*x + sqrt(3)/2*y;
-  Amove(spdA);
-  Bmove(spdB);
-  Cmove(spdC);
-
-  Serial.println(spdA);
-  Serial.println(spdB);
-  Serial.println(spdC);
-  Serial.println();
-  Serial.println();
-}
-void loop()
-{
-  //demoOne();
-  //delay(1000);
-  //demoTwo();
-  delay(1000);
-  turnoff();
-  beddermoveohmi(255, 0);
-  delay(1000);
-  turnoff();
-  Amove(255);
-  delay(1000);
-  turnoff();
-  Bmove(255);
-  delay(1000);
-  turnoff();
-  Cmove(255);
-  delay(1000);
-  turnoff();
-  turn(254);
-  delay(1000);
-}