andrea/elbestia-robot
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Add manual motor test and command handling for motor movement in main loop

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This commit is contained in:
Andrea Moro 2025-03-06 09:28:53 +01:00
parent 143c128053
commit 4841dc4317
1 changed files with 43 additions and 4 deletions
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47
src/main.cpp
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@ -12,10 +12,10 @@
#define SIGNAL_TIMEOUT 5000 // Time in ms to consider ball lost if no detection #define SIGNAL_TIMEOUT 5000 // Time in ms to consider ball lost if no detection
// Pin definitions for the motors // Pin definitions for the motors
#define MOTOR1_R_PWM 3 #define MOTOR1_R_PWM 5
#define MOTOR1_L_PWM 5 #define MOTOR1_L_PWM 3
#define MOTOR2_R_PWM 6 #define MOTOR2_R_PWM 9
#define MOTOR2_L_PWM 9 #define MOTOR2_L_PWM 6
#define MOTOR3_R_PWM 10 #define MOTOR3_R_PWM 10
#define MOTOR3_L_PWM 11 #define MOTOR3_L_PWM 11
@ -72,6 +72,31 @@ void setup()
motors.stop(); motors.stop();
delay(200); delay(200);
// Manual motor test
analogWrite(MOTOR1_R_PWM, MOTOR_SPEED);
delay(500);
analogWrite(MOTOR1_R_PWM, 0);
delay(200);
analogWrite(MOTOR1_L_PWM, MOTOR_SPEED);
delay(500);
analogWrite(MOTOR1_L_PWM, 0);
delay(200);
analogWrite(MOTOR2_L_PWM, MOTOR_SPEED);
delay(500);
analogWrite(MOTOR2_L_PWM, 0);
delay(200);
analogWrite(MOTOR2_R_PWM, MOTOR_SPEED);
delay(500);
analogWrite(MOTOR2_R_PWM, 0);
delay(200);
analogWrite(MOTOR3_R_PWM, MOTOR_SPEED);
delay(500);
analogWrite(MOTOR3_R_PWM, 0);
delay(200);
analogWrite(MOTOR3_L_PWM, MOTOR_SPEED);
delay(500);
analogWrite(MOTOR3_L_PWM, 0);
Serial.println("Initialization complete. Waiting for commands..."); Serial.println("Initialization complete. Waiting for commands...");
// wait for 'start' command from serial // wait for 'start' command from serial
@ -270,6 +295,20 @@ void loop()
robotActive = false; robotActive = false;
motors.stop(); motors.stop();
Serial.println("Robot stopped! Send 'start' to resume"); Serial.println("Robot stopped! Send 'start' to resume");
} else if (command.equalsIgnoreCase("test")) {
motors.moveForward(100);
delay(1000);
motors.moveBackward(100);
delay(1000);
motors.moveLeft(100);
delay(1000);
motors.moveRight(100);
delay(1000);
motors.rotateToAngle(90);
delay(1000);
motors.rotateToAngle(-90);
delay(1000);
motors.stop();
} }
else if (command.equalsIgnoreCase("start") && !robotActive) else if (command.equalsIgnoreCase("start") && !robotActive)
{ {