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//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);
}
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