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//moveohmi = https://robotics.stackexchange.com/questions/7829/how-to-program-a-three-wheel-omni
//https://www.pololu.com/product/2997
//https://www.pololu.com/product/4861
//
// motor one
int m1penA = 1;
int m1enB = 2;
int m1pwm1 = 3;
int m1pwm2 = 4;
int m1encA = 13;
int m1encB = 14;
// motor two
int m2enA = 5;
int m2enB = 6;
int m2pwm1 = 7;
int m2pwm2 = 8;
// motor three
int m3enA = 9;
int m3enB = 10;
int m3pwm1 = 11;
int m3pwm2 = 12;
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(m1enA, OUTPUT);
pinMode(m1enB, OUTPUT);
pinMode(m2enA, OUTPUT);
pinMode(m2enB, OUTPUT);
pinMode(m3enA, OUTPUT);
pinMode(m3enB, OUTPUT);
pinMode(m1pwm1, OUTPUT);
pinMode(m1pwm2, OUTPUT);
pinMode(m2pwm1, OUTPUT);
pinMode(m2pwm2, OUTPUT);
pinMode(m3pwm1, OUTPUT);
pinMode(m3pwm2, OUTPUT);
pinMode(m1encA, INPUT);
pinMode(m1encB, INPUT);
}
void Amove(int sped){
digitalWrite(m1enA, HIGH);
digitalWrite(m1enA, LOW);
sp = abs(sped);
if (sped < 0) {
Serial.print("back");
analogWrite(m1pwm1, sp);
digitalWrite(m1pwm2, LOW);
} else {
Serial.print("forward");
digitalWrite(m1pwm1, LOW);
analogWrite(m1pwm2, 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()
{
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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