43 lines
1.1 KiB
C++
43 lines
1.1 KiB
C++
#pragma once
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/// <summary>
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/// Connects to a PixelHub server, receives commands, and acts upon them.
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/// </summmary>
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class PixelBotController
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{
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public:
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PixelBotController();
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~PixelBotController();
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static const int STOP = 0;
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static const int FORWARDS = 1;
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static const int BACKWARDS = 2;
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static const int LEFT = 3;
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static const int RIGHT = 4;
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void MoveDistance(int direction, int ticks);
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void MoveTick(int direction);
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unsigned long GetTicksTravelled();
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private:
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const int rmotorPin1 = 16;
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const int rmotorPin2 = 5;
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const int rmotorPin3 = 4;
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const int rmotorPin4 = 0;
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const int lmotorPin1 = 2;
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const int lmotorPin2 = 14;
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const int lmotorPin3 = 12;
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const int lmotorPin4 = 13;
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int motorLookup[8] = { 0b01000, 0b01100, 0b00100, 0b00110, 0b00010, 0b00011, 0b00001, 0b01001 };
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int motorSpeed = 1200; // The speed at which the stepper motor accepts bits
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unsigned long ticksTravelled = 0; // Number of steps travelled (including turns)
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int ticksPerRevolution = 512; // Number of steps per full revolution of the wheels
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int tickDelay = 1; // The delay in between ticks
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void sendTickPart(int leftCode, int rightCode);
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};
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