init

2023-07-07 21:57:41 +02:00
commit dc5f14256e
12 changed files with 523 additions and 0 deletions
@@ -0,0 +1,40 @@
+// MOTOR.cpp
+#include "MOTOR.h"
+
+void MOTOR::setMotorPosition(MotorPosition mp) {
+  motorPosition = mp;
+}
+
+void MOTOR::setPinESC(int pin) {
+  pinESC = pin;
+  esc.attach(pinESC, minSpeed, maxSpeed);
+  setSpeedInternal(minSpeed);
+}
+
+void MOTOR::setSpeedInternal(int speed) {
+  if (speed < minSpeed || speed > maxSpeed) {
+    Serial.println("Speed: " + String(speed) + " out of range! Motorposition: " + String(motorPosition));
+    return;
+  }
+  currentSpeed = speed;
+  esc.write(currentSpeed);
+  Serial.println("MP:" + String(motorPosition) + "|Speed:" + String(currentSpeed)); 
+}
+
+void MOTOR::setSpeed(int speed) {
+  setSpeedInternal(speed);
+}
+
+int MOTOR::getSpeed() {
+  return currentSpeed;
+}
+
+void MOTOR::accelerate() {
+  int speed = currentSpeed + speedInterval;
+  setSpeedInternal(speed);
+}
+
+void MOTOR::decelerate() {
+  int speed = currentSpeed - speedInterval;
+  setSpeedInternal(speed);
+}