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

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This commit is contained in:
Andrea Moro 2025-03-06 11:45:21 +01:00
parent 4841dc4317
commit 5d0a067fba
6 changed files with 207 additions and 21 deletions
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26
lib/motor/OmniWheelMotors.cpp
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@ -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;

3
lib/motor/OmniWheelMotors.hpp
View file

@ -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);