version 1.1

2023-07-09 20:04:44 +02:00
parent c55b7fc4ed
commit 2547e14592
7 changed files with 42 additions and 40 deletions
@@ -5,8 +5,11 @@ void MOTOR::setMotorPosition(MotorPosition mp) {
  motorPosition = mp;
 }

-void MOTOR::setPinESC(int pin) {
+void MOTOR::setPinESC(int pin, int speedOffset) {
  pinESC = pin;
+  speedOffset -= 10; // error tolerance
+  minSpeed += speedOffset;
+  maxSpeed += speedOffset;
  esc.attach(pinESC, minSpeed, maxSpeed);
  setSpeedInternal(minSpeed);
 }
@@ -18,7 +21,7 @@ void MOTOR::setSpeedInternal(int speed) {
  }
  currentSpeed = speed;
  esc.write(currentSpeed);
-  Serial.println("MP:" + String(motorPosition) + "|Speed:" + String(currentSpeed)); 
+  Serial.println("MP:" + String(motorPosition) + "|Speed:" + String(getSpeed())); 
 }

 void MOTOR::setSpeed(int speed) {
@@ -26,7 +29,7 @@ void MOTOR::setSpeed(int speed) {
 }

 int MOTOR::getSpeed() {
-  return currentSpeed;
+  return map(currentSpeed, minSpeed, maxSpeed, 0, 255);
 }

 void MOTOR::accelerate() {
@@ -37,4 +40,8 @@ void MOTOR::accelerate() {
 void MOTOR::decelerate() {
  int speed = currentSpeed - speedInterval;
  setSpeedInternal(speed);
+}
+
+void MOTOR::stop() {
+  setSpeedInternal(minSpeed);
 }