This repository has been archived on 2019-06-21. You can view files and clone it, but cannot push or open issues or pull requests.
PixelHub/PixelHub-Client/PixelBotController.cpp

66 lines
1.4 KiB
C++
Raw Normal View History

#include "PixelBotController.h"
#include <Arduino.h>
PixelBotController::PixelBotController()
{
}
PixelBotController::~PixelBotController()
{
}
unsigned long PixelBotController::GetTicksTravelled()
{
return ticksTravelled;
}
void PixelBotController::MoveDistance(int direction, int ticks)
{
for(int i = 0; i < ticks; i++) {
MoveTick(direction);
delay(tickDelay);
}
}
void PixelBotController::MoveTick(int direction)
{
for(int i = 0; i < 8; i++)
{
switch(direction) {
case STOP:
return;
case FORWARD:
setOutputDir(i,7-i);
break;
case BACK:
setOutputDir(7-i,i);
break;
case LEFT:
setOutputDir(7-i,7-i);
break;
case RIGHT:
setOutputDir(i,i);
break;
}
delayMicroseconds(motorSpeed);
}
ticksTravelled++;
}
void PixelBotController::sendTickPart(int leftCode, int rightCode)
{
digitalWrite(lmotorPin1, bitRead(motorLookup[leftCode], 0));
digitalWrite(lmotorPin2, bitRead(motorLookup[leftCode], 1));
digitalWrite(lmotorPin3, bitRead(motorLookup[leftCode], 2));
digitalWrite(lmotorPin4, bitRead(motorLookup[leftCode], 3));
digitalWrite(rmotorPin1, bitRead(motorLookup[rightCode], 0));
digitalWrite(rmotorPin2, bitRead(motorLookup[rightCode], 1));
digitalWrite(rmotorPin3, bitRead(motorLookup[rightCode], 2));
digitalWrite(rmotorPin4, bitRead(motorLookup[rightCode], 3));
}