Add DisplayLib for OLED display management and enhance motor control with rotation methods

lib/display/DisplayLib.cpp

@@ -0,0 +1,67 @@
+#include "DisplayLib.hpp"
+
+U8G2_SSD1306_128X64_NONAME_F_HW_I2C u8g2(U8G2_R0, /* reset=*/ U8X8_PIN_NONE);
+
+void DisplayLib::updateDisplay(const char* title, const char* detail) {
+    u8g2.clearBuffer();
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(0, 10, title);
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(0, 30, detail);
+    u8g2.sendBuffer();
+}
+
+void DisplayLib::welcomeScreen() {
+    u8g2.clearBuffer();
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(0, 10, "Welcome to");
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(0, 30, "Elbestia");
+    u8g2.sendBuffer();
+}
+
+void DisplayLib::clearDisplay() {
+    u8g2.clearBuffer();
+    u8g2.sendBuffer();
+}
+
+void DisplayLib::initDisplay() {
+    u8g2.begin();
+    u8g2.enableUTF8Print();
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.clearBuffer();
+    u8g2.sendBuffer();
+}
+
+void DisplayLib::displayError(const char* error) {
+    u8g2.clearBuffer();
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(0, 10, "Error:");
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(0, 30, error);
+    u8g2.sendBuffer();
+}
+
+void DisplayLib::displayMessage(const char* message) {
+    u8g2.clearBuffer();
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(0, 10, message);
+    u8g2.sendBuffer();
+}
+
+void DisplayLib::printMessage(const char* message, int x, int y) {
+    u8g2.clearBuffer();
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(x, y, message);
+    u8g2.sendBuffer();
+}
+
+void DisplayLib::printMessage(const String message, int x, int y) {
+    u8g2.clearBuffer();
+    u8g2.setFont(u8g2_font_ncenB08_tr);
+    u8g2.drawStr(x, y, message.c_str());
+}
+
+void DisplayLib::sendBuffer() {
+    u8g2.sendBuffer();
+}

lib/display/DisplayLib.hpp

@@ -0,0 +1,21 @@
+#ifndef DISPLAYLIB_HPP
+#define DISPLAYLIB_HPP
+
+#include <U8g2lib.h>
+
+class DisplayLib {
+    public: 
+        void updateDisplay(const char* title, const char* detail);
+        void welcomeScreen();
+        void clearDisplay();
+        void initDisplay();
+        void displayError(const char* error);
+        void displayMessage(const char* message);
+        void printMessage(const char* message, int x, int y);
+        void printMessage(const char* message, int x, int y, int size);
+        void printMessage(const String message, int x, int y);
+        void printMessage(const String message, int x, int y, int size);
+        void sendBuffer();
+};
+
+#endif

lib/motor/OmniWheelMotors.cpp

@@ -8,7 +8,7 @@ OmniWheelMotors::OmniWheelMotors(int m1_r_pwm, int m1_l_pwm,
     motor_3 = {m3_r_pwm, m3_l_pwm};
     
     MAX_SPEED = 70;      // Max PWM value
-    MIN_SPEED = 50;      // Default minimum speed
+    MIN_SPEED = 255;      // Default minimum speed
     FULL_ROTATION_TIME = 2000;  // Default time for 360 degrees in milliseconds
 }
 
@@ -85,8 +85,8 @@ void OmniWheelMotors::moveRight(int speed) {
 void OmniWheelMotors::rotate360() {
     // Set motor directions for full rotation
     setMotorSpeed(motor_1, 0, MIN_SPEED);  // Motor 1 forward
-    setMotorSpeed(motor_2, 0, MIN_SPEED);  // Motor 2 forward
-    setMotorSpeed(motor_3, 0, 0);          // Motor 3 neutral
+    setMotorSpeed(motor_2, MIN_SPEED, 0);  // Motor 2 forward
+    setMotorSpeed(motor_3, 0, MIN_SPEED);          // Motor 3 neutral
     
     // Wait for approximately one full rotation
     delay(FULL_ROTATION_TIME);
@@ -95,6 +95,26 @@ void OmniWheelMotors::rotate360() {
     stop();
 }
 
+void OmniWheelMotors::rotateClockwise(int speed) {
+    // Ensure speed is at least minimum speed for stable movement
+    speed = max(speed, MIN_SPEED);
+    
+    // Set motor directions for clockwise rotation
+    setMotorSpeed(motor_1, 0, speed);  // Motor 1 forward
+    setMotorSpeed(motor_2, speed, 0);  // Motor 2 backward
+    setMotorSpeed(motor_3, speed, 0);          // Motor 3 neutral
+}
+
+void OmniWheelMotors::rotateCounterClockwise(int speed) {
+    // Ensure speed is at least minimum speed for stable movement
+    speed = max(speed, MIN_SPEED);
+    
+    // Set motor directions for counter-clockwise rotation
+    setMotorSpeed(motor_1, speed, 0);  // Motor 1 backward
+    setMotorSpeed(motor_2, 0, speed);  // Motor 2 forward
+    setMotorSpeed(motor_3, 0, speed);          // Motor 3 neutral
+}
+
 void OmniWheelMotors::rotateToAngle(int targetAngle) {
     // Ensure angle is between 0 and 360
     targetAngle = targetAngle % 360;

lib/motor/OmniWheelMotors.hpp

@@ -23,7 +23,8 @@ public:
     void moveBackward(int speed);
     void moveLeft(int speed);
     void moveRight(int speed);
-    
+    void rotateClockwise(int speed);
+    void rotateCounterClockwise(int speed);
     // Rotation functions
     void rotate360();
     void rotateToAngle(int targetAngle);