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