kkmonster

#include <Arduino.h>
#include "corgi85_blynk.h"

void CORGI85_BLINK::loop(void)
{

    switch (mode)
    {
    case stop:

kkmonster

#define sgn(x) ((x) < 0 ? -1 : ((x) > 0 ? 1 : 0))

#define off 0
#define on 1

#include "Arduino.h"
#include <ESP32Encoder.h> //https://github.com/madhephaestus/ESP32Encoder
#include <math.h>

kkmonster

//  max velocity 1000 mm /s
//  max acc 10 m /s^2

#include "Arduino.h"
#include <ESP32Encoder.h> //https://github.com/madhephaestus/ESP32Encoder
#include <math.h>
hw_timer_t *timer = NULL;
hw_timer_t *timer1 = NULL;

portMUX_TYPE sync = portMUX_INITIALIZER_UNLOCKED;

kkmonster

void recv()
{
  while (Serial3.available() > 0)
  {
    for (byte index = 0; index < MAXLENGTH - 1; index++)
    {
      receivedCommandStack[index] = receivedCommandStack[index + 1];
    }
    receivedCommandStack[MAXLENGTH - 1] = Serial3.read();

kkmonster

#include "Arduino.h"
#include <ESP32Encoder.h> // https://github.com/madhephaestus/ESP32Encoder
#include <math.h>
hw_timer_t *timer = NULL;
hw_timer_t *timer1 = NULL;

portMUX_TYPE sync = portMUX_INITIALIZER_UNLOCKED;
ESP32Encoder encoder;

const int encoderA_pin = 21;

kkmonster

// wasin wongkum demo inverted pendulum   on nano32(ESP32)

#include <ESP32Encoder.h> // https://github.com/madhephaestus/ESP32Encoder
#include <math.h>
hw_timer_t *timer = NULL;
hw_timer_t *timer1 = NULL;

portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;
ESP32Encoder encoder;

kkmonster

#include <ESP32Encoder.h>

hw_timer_t *timer = NULL;
portMUX_TYPE timerMux = portMUX_INITIALIZER_UNLOCKED;
ESP32Encoder encoder;

const int encoderA_pin = 25;
const int encoderB_pin = 26;

const int encoder_CPR = 1600;

kkmonster

		uint8_t got_cmd = 0;
		for (int tmp = 0; tmp < sizeof(command_tmp) - 7; tmp++) {

			if (command_tmp[tmp] == 0xff && command_tmp[tmp + 1] == 0xfe) {

				uint16_t sumcheck = 0;
				uint16_t sumget = (uint16_t) command_tmp[tmp + 6] << 8 | (uint16_t) command_tmp[tmp + 7];

				for (int tmp_2 = 0; tmp_2 < 6; tmp_2++) {

kkmonster

float f 1.23;

int val1 = f;
int val2 = (f * 10) % 10;
int val3 = (f * 100) % 10;
char buffer[20];
sprintf(buffer, "val = %d.%d%d", val1, val2, val3);

kkmonster

#include "arduino.h"
#include <SPI.h>
#include <SD.h>
#include <stdio.h>
#include <string.h>

const int chipSelect = PA4;

typedef struct data_log_typedef
{