From 2bcc96fb10a4a84a7e5537d1d3258a7f919b6917 Mon Sep 17 00:00:00 2001 From: Abel Tim Date: Thu, 20 Mar 2025 08:27:18 +0100 Subject: code --- CODE/debug/3mtest/3mtest.ino | 90 --------------- CODE/debug/3mtest/5514468/5514468.ino | 37 ------ .../debug/IR/communication/rx_teensy/rx_teensy.ino | 17 +++ CODE/debug/IR/communication/tx_seeed/tx_seeed.ino | 20 ++++ CODE/debug/base_drive/base_drive.ino | 125 --------------------- CODE/debug/driving/3mtest/3mtest.ino | 90 +++++++++++++++ CODE/debug/driving/base_drive/base_drive.ino | 125 +++++++++++++++++++++ 7 files changed, 252 insertions(+), 252 deletions(-) delete mode 100644 CODE/debug/3mtest/3mtest.ino delete mode 100644 CODE/debug/3mtest/5514468/5514468.ino create mode 100644 CODE/debug/IR/communication/rx_teensy/rx_teensy.ino create mode 100644 CODE/debug/IR/communication/tx_seeed/tx_seeed.ino delete mode 100644 CODE/debug/base_drive/base_drive.ino create mode 100644 CODE/debug/driving/3mtest/3mtest.ino create mode 100644 CODE/debug/driving/base_drive/base_drive.ino diff --git a/CODE/debug/3mtest/3mtest.ino b/CODE/debug/3mtest/3mtest.ino deleted file mode 100644 index 237dc88..0000000 --- a/CODE/debug/3mtest/3mtest.ino +++ /dev/null @@ -1,90 +0,0 @@ - -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); - - -} diff --git a/CODE/debug/3mtest/5514468/5514468.ino b/CODE/debug/3mtest/5514468/5514468.ino deleted file mode 100644 index fd37bc9..0000000 --- a/CODE/debug/3mtest/5514468/5514468.ino +++ /dev/null @@ -1,37 +0,0 @@ - -int led = 13; - -int m1enA = 6; -int m1enB = 5; -int m1pwm1 = 3; -int m1pwm2 = 4; -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(led, OUTPUT); - -} - -// the loop routine runs over and over again forever: -void loop() { - digitalWrite(led, HIGH); // turn the LED on (HIGH is the voltage level) - delay(1000); // wait for a second - digitalWrite(led, LOW); // turn the LED off by making the voltage LOW - delay(1000); // wait for a second -} diff --git a/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino b/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino new file mode 100644 index 0000000..7dca76d --- /dev/null +++ b/CODE/debug/IR/communication/rx_teensy/rx_teensy.ino @@ -0,0 +1,17 @@ +int incomingByte = 0; // for incoming serial data + +void setup() { + Serial.begin(9600); // opens serial port, sets data rate to 9600 bps + Serial1.begin(9600); +} + +void loop() { + // send data only when you receive data: + if (Serial1.available() > 0) { + // read the incoming byte: + incomingByte = Serial1.read(); + + // say what you got: + Serial.print(char(incomingByte)); + } +} diff --git a/CODE/debug/IR/communication/tx_seeed/tx_seeed.ino b/CODE/debug/IR/communication/tx_seeed/tx_seeed.ino new file mode 100644 index 0000000..fe6d1da --- /dev/null +++ b/CODE/debug/IR/communication/tx_seeed/tx_seeed.ino @@ -0,0 +1,20 @@ +long randNumber; + +void setup() { + Serial.begin(9600); + Serial1.begin(9600); + delay(2500); + randomSeed(analogRead(0)); + +} + +void loop() { + randNumber = random(300); + Serial.println("transmission test"); + Serial1.println("transmission test"); + Serial.println(randNumber); + Serial1.println(randNumber); + delay(1000); + + +} diff --git a/CODE/debug/base_drive/base_drive.ino b/CODE/debug/base_drive/base_drive.ino deleted file mode 100644 index 8c49609..0000000 --- a/CODE/debug/base_drive/base_drive.ino +++ /dev/null @@ -1,125 +0,0 @@ -//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; - -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("start"); - -} - - -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....|....+.... - // - - if(speed<0){ - speed = -speed; - } - digitalWrite(m1enA, HIGH); - digitalWrite(m2enA, HIGH); - digitalWrite(m2enA, HIGH); - digitalWrite(m1enB, LOW); - digitalWrite(m2enB, LOW); - digitalWrite(m3enB, LOW); - if(direction>330 && direction<=30){ - //0 deg - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, LOW); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, HIGH); - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - - }else if (direction>30 && direction <= 90){ - //60 deg - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, HIGH); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, LOW); - }else if (direction>90 && direction <= 150){ - //120 deg - digitalWrite(m1pwm1, HIGH); - digitalWrite(m1pwm2, LOW); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, LOW); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, HIGH); - }else if (direction > 150 && direction <= 210) { - //180 degrees - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, LOW); - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, HIGH); - }else if (direction > 210 && direction <= 270) { - //240 degrees - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, HIGH); - digitalWrite(m2pwm1, HIGH); - digitalWrite(m2pwm2, LOW); - digitalWrite(m3pwm1, LOW); - digitalWrite(m3pwm2, LOW); - }else if (direction > 270 && direction <= 330) { - //300 degrees - digitalWrite(m1pwm1, LOW); - digitalWrite(m1pwm2, HIGH); - digitalWrite(m2pwm1, LOW); - digitalWrite(m2pwm2, LOW); - digitalWrite(m3pwm1, HIGH); - digitalWrite(m3pwm2, LOW); - }else{ - Serial.println("how?"); - } -} - -// the loop routine runs over and over again forever: -void loop() { - drive(255, 120); - - -} diff --git a/CODE/debug/driving/3mtest/3mtest.ino b/CODE/debug/driving/3mtest/3mtest.ino new file mode 100644 index 0000000..237dc88 --- /dev/null +++ b/CODE/debug/driving/3mtest/3mtest.ino @@ -0,0 +1,90 @@ + +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); + + +} diff --git a/CODE/debug/driving/base_drive/base_drive.ino b/CODE/debug/driving/base_drive/base_drive.ino new file mode 100644 index 0000000..8c49609 --- /dev/null +++ b/CODE/debug/driving/base_drive/base_drive.ino @@ -0,0 +1,125 @@ +//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; + +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("start"); + +} + + +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....|....+.... + // + + if(speed<0){ + speed = -speed; + } + digitalWrite(m1enA, HIGH); + digitalWrite(m2enA, HIGH); + digitalWrite(m2enA, HIGH); + digitalWrite(m1enB, LOW); + digitalWrite(m2enB, LOW); + digitalWrite(m3enB, LOW); + if(direction>330 && direction<=30){ + //0 deg + digitalWrite(m1pwm1, LOW); + digitalWrite(m1pwm2, LOW); + digitalWrite(m2pwm1, LOW); + digitalWrite(m2pwm2, HIGH); + digitalWrite(m3pwm1, HIGH); + digitalWrite(m3pwm2, LOW); + + }else if (direction>30 && direction <= 90){ + //60 deg + digitalWrite(m1pwm1, HIGH); + digitalWrite(m1pwm2, LOW); + digitalWrite(m2pwm1, LOW); + digitalWrite(m2pwm2, HIGH); + digitalWrite(m3pwm1, LOW); + digitalWrite(m3pwm2, LOW); + }else if (direction>90 && direction <= 150){ + //120 deg + digitalWrite(m1pwm1, HIGH); + digitalWrite(m1pwm2, LOW); + digitalWrite(m2pwm1, LOW); + digitalWrite(m2pwm2, LOW); + digitalWrite(m3pwm1, LOW); + digitalWrite(m3pwm2, HIGH); + }else if (direction > 150 && direction <= 210) { + //180 degrees + digitalWrite(m1pwm1, LOW); + digitalWrite(m1pwm2, LOW); + digitalWrite(m2pwm1, HIGH); + digitalWrite(m2pwm2, LOW); + digitalWrite(m3pwm1, LOW); + digitalWrite(m3pwm2, HIGH); + }else if (direction > 210 && direction <= 270) { + //240 degrees + digitalWrite(m1pwm1, LOW); + digitalWrite(m1pwm2, HIGH); + digitalWrite(m2pwm1, HIGH); + digitalWrite(m2pwm2, LOW); + digitalWrite(m3pwm1, LOW); + digitalWrite(m3pwm2, LOW); + }else if (direction > 270 && direction <= 330) { + //300 degrees + digitalWrite(m1pwm1, LOW); + digitalWrite(m1pwm2, HIGH); + digitalWrite(m2pwm1, LOW); + digitalWrite(m2pwm2, LOW); + digitalWrite(m3pwm1, HIGH); + digitalWrite(m3pwm2, LOW); + }else{ + Serial.println("how?"); + } +} + +// the loop routine runs over and over again forever: +void loop() { + drive(255, 120); + + +} -- cgit v1.2.3