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Turtle Motors for Explorer
#include <Arduino.h>
class Motor {
public:
int enable;
int in1;
int in2;
void setup() {
//Set all the pins as outputs
pinMode(enable, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
}
void forward(int speed) {
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
analogWrite(enable, speed);
}
void backward(int speed) {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(enable, speed);
}
void stop() {
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
analogWrite(enable, 0);
}
};
class TurtleMotors {
public:
Motor left_motor;
Motor right_motor;
int speed;
int step_size_in_ms;
private:
//Because we will wait for a number of steps and stop regularly -
//turn this into a function we can use a few times.
void _waitAndStop(int steps) {
if (steps > 0) {
delay(step_size_in_ms * steps);
left_motor.stop();
right_motor.stop();
}
}
public:
void setup() {
left_motor.setup();
right_motor.setup();
}
void forward(int steps=1) {
left_motor.forward(speed);
right_motor.forward(speed);
_waitAndStop(steps);
}
void backward(int steps=1) {
left_motor.backward(speed);
right_motor.backward(speed);
_waitAndStop(steps);
}
void turnLeft(int steps=1) {
left_motor.backward(speed);
right_motor.forward(speed);
_waitAndStop(steps);
}
void turnRight(int steps=1) {
left_motor.forward(speed);
right_motor.backward(speed);
_waitAndStop(steps);
}
void stop() {
left_motor.stop();
right_motor.stop();
}
};
#include <Arduino.h>
class Motor {
public:
int enable;
int in1;
int in2;
void setup() {
//Set all the pins as outputs
pinMode(enable, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
}
void forward(int speed) {
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
analogWrite(enable, speed);
}
void backward(int speed) {
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(enable, speed);
}
void stop() {
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
analogWrite(enable, 0);
}
};
class TurtleMotors {
public:
Motor left_motor;
Motor right_motor;
int speed;
int step_size_in_ms;
private:
//Because we will wait for a number of steps and stop regularly -
//turn this into a function we can use a few times.
void _waitAndStop(int steps) {
if (steps > 0) {
delay(step_size_in_ms * steps);
left_motor.stop();
right_motor.stop();
}
}
public:
void setup() {
left_motor.setup();
right_motor.setup();
}
void forward(int steps=1) {
left_motor.forward(speed);
right_motor.forward(speed);
_waitAndStop(steps);
}
void backward(int steps=1) {
left_motor.backward(speed);
right_motor.backward(speed);
_waitAndStop(steps);
}
void turnLeft(int steps=1) {
left_motor.backward(speed);
right_motor.forward(speed);
_waitAndStop(steps);
}
void turnRight(int steps=1) {
left_motor.forward(speed);
right_motor.backward(speed);
_waitAndStop(steps);
}
void stop() {
left_motor.stop();
right_motor.stop();
}
};
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