Created
May 22, 2023 13:02
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M5Atom Lite + AtomFly2 モーター制御 by GOROman (怪我して死んでも知らんVer.)
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// M5Atom Lite + AtomFly2 モーター制御 by GOROman | |
#include <M5Atom.h> | |
// モーターの数 | |
const int MOTOR_COUNT = 4; | |
// モーターのGPIOピンアサイン | |
const int MOTOR_PINS[] = { | |
22, // [A] FL | |
19, // [B] FR | |
23, // [D] RL | |
33, // [C] RR | |
}; | |
const int MOTOR_PWM_FREQ = 300000; // 300kHz | |
const int MOTOR_PWM_BIT_NUM = 8; // 8bit (PWM Reso) | |
// モーターの初期化 | |
void initMotor( int id ) | |
{ | |
// PWM チャンネル設定 | |
ledcSetup( id, MOTOR_PWM_FREQ, MOTOR_PWM_BIT_NUM ); | |
// PWM ピンアサイン | |
ledcAttachPin( MOTOR_PINS[id], id ); | |
} | |
// モーターの更新 | |
void updateMotor( int id, float duty ) | |
{ | |
// PWM Duty比設定 | |
const uint32_t MAX = ( 1 << MOTOR_PWM_BIT_NUM ) - 1; | |
ledcWrite( id, (uint32_t) ( MAX * duty ) ); | |
} | |
void setup() | |
{ | |
M5.begin( true, true, true ); | |
// LED赤点灯 | |
M5.dis.drawpix( 0, 0xff0000 ); | |
for (int i=0;i<MOTOR_COUNT;i++) { | |
initMotor( i ); | |
} | |
delay( 500 ); | |
} | |
void loop() | |
{ | |
M5.dis.drawpix( 0, 0x000000 ); | |
for ( int i = 0; i < MOTOR_COUNT; i++ ) | |
{ | |
updateMotor( i, 0.0f ); // Duty 0% (回転しない) | |
} | |
delay( 1000 ); | |
M5.dis.drawpix( 0, 0xffffff ); | |
for ( int i = 0; i < MOTOR_COUNT; i++ ) | |
{ | |
updateMotor( i, 0.1f ); // Duty 10% | |
} | |
delay( 1000 ); | |
} |
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