mirror of
https://github.com/peter-tanner/des-car-2022.git
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64 lines
1.5 KiB
C++
64 lines
1.5 KiB
C++
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#include <Arduino.h>
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#include <inttypes.h>
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#include "util.h"
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#include "parameters.h"
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typedef enum driving_direction
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{
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FORWARD,
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STOP,
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} DRIVING_DIRECTION;
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typedef enum steering_direction
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{
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RIGHT,
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STRAIGHT,
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LEFT,
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} STEERING_DIRECTION;
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// *(10 ms)
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#define STEERING_DURATION 25
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#define DRIVE_DURATION 200
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#define STOP_DURATION 0
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#define INITIALIZE_DRIVE() \
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pinMode(WHEEL_L_F, OUTPUT); \
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pinMode(WHEEL_L_B, OUTPUT); \
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pinMode(WHEEL_R_F, OUTPUT); \
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pinMode(WHEEL_R_B, OUTPUT); \
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diff_drive(STOP, STRAIGHT);
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inline void diff_drive(DRIVING_DIRECTION drive, STEERING_DIRECTION steer)
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{
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if (drive == STOP)
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{
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digitalWrite(WHEEL_L_F, LOW);
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digitalWrite(WHEEL_L_B, LOW);
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digitalWrite(WHEEL_R_F, LOW);
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digitalWrite(WHEEL_R_B, LOW);
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return;
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}
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switch (steer)
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{
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case LEFT:
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digitalWrite(WHEEL_L_F, HIGH);
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digitalWrite(WHEEL_L_B, LOW);
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digitalWrite(WHEEL_R_F, LOW);
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digitalWrite(WHEEL_R_B, HIGH);
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return;
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case RIGHT:
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digitalWrite(WHEEL_L_F, LOW);
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digitalWrite(WHEEL_L_B, HIGH);
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digitalWrite(WHEEL_R_F, HIGH);
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digitalWrite(WHEEL_R_B, LOW);
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return;
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case STRAIGHT:
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digitalWrite(WHEEL_L_F, LOW);
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digitalWrite(WHEEL_L_B, HIGH);
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digitalWrite(WHEEL_R_F, LOW);
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digitalWrite(WHEEL_R_B, HIGH);
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return;
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}
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}
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