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ka und alte code wieder zurücl

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danielvici123
2024-12-03 09:21:41 +01:00
parent c810f9541d
commit 0ec0460b49
22 changed files with 2005 additions and 0 deletions
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32
INF/beispiele/01.1_Car_Move_and_Turn/01.1_Car_Move_and_Turn.ino Normal file
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/**********************************************************************
Product : Freenove 4WD Car for ESP32
Auther : www.freenove.com
Modification: 2020/12/18
**********************************************************************/
#include "Freenove_4WD_Car_For_ESP32.h"
void setup()
{
PCA9685_Setup(); //Initializes the chip that controls the motor
}
void loop()
{
Motor_Move(2000, 2000, 2000, 2000); //go forward
delay(1000);
Motor_Move(0, 0, 0, 0); //stop
delay(1000);
Motor_Move(-2000, -2000, -2000, -2000); //go back
delay(1000);
Motor_Move(0, 0, 0, 0); //stop
delay(1000);
Motor_Move(-2000, -2000, 2000, 2000); //turn left
delay(1000);
Motor_Move(0, 0, 0, 0); //stop
delay(1000);
Motor_Move(2000, 2000, -2000, -2000); //turn right
delay(1000);
Motor_Move(0, 0, 0, 0); //stop
delay(1000);
}

149
INF/beispiele/01.1_Car_Move_and_Turn/Freenove_4WD_Car_For_ESP32.cpp Normal file
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#include <Arduino.h>
#include "Freenove_4WD_Car_For_ESP32.h"
/////////////////////PCA9685 drive area///////////////////////////////////
#define PCA9685_SDA 13 //Define SDA pins
#define PCA9685_SCL 14 //Define SCL pins
#ifndef PCA9685_ADDRESS
#define PCA9685_ADDRESS 0x5F
#endif
#define SERVO_FREQUENCY 50 //Define the operating frequency of servo
#define PCA9685_CHANNEL_0 0 //Define PCA9685 channel to control servo 1
#define PCA9685_CHANNEL_1 1 //Define the PCA9685 channel to control servo 2
#define SERVO_MIDDLE_POINT 1500 //Define the middle position of the servo
#define MOTOR_SPEED_MIN -4095 //Define a minimum speed limit for wheels
#define MOTOR_SPEED_MAX 4095 //Define a maximum speed limit for wheels
#define PIN_MOTOR_M1_IN1 15 //Define the positive pole of M1
#define PIN_MOTOR_M1_IN2 14 //Define the negative pole of M1
#define PIN_MOTOR_M2_IN1 9 //Define the positive pole of M2
#define PIN_MOTOR_M2_IN2 8 //Define the negative pole of M2
#define PIN_MOTOR_M3_IN1 12 //Define the positive pole of M3
#define PIN_MOTOR_M3_IN2 13 //Define the negative pole of M3
#define PIN_MOTOR_M4_IN1 10 //Define the positive pole of M4
#define PIN_MOTOR_M4_IN2 11 //Define the negative pole of M4
PCA9685 pca9685;//Instantiate a PCA9685 object
//PCA9685 initialization
void PCA9685_Setup(void)
{
Wire.begin(PCA9685_SDA, PCA9685_SCL);
Wire.beginTransmission(PCA9685_ADDRESS);
Wire.write(0x00);
Wire.write(0x00);
Wire.endTransmission();
pca9685.setupSingleDevice(Wire, PCA9685_ADDRESS);
pca9685.setToFrequency(SERVO_FREQUENCY);
}
//Set the rotation parameters of servo 1, and the parameters are 0-180 degrees
void Servo_1_Angle(float angle)
{
angle = constrain(angle, 0, 180);
angle = map(angle, 0, 180, 102, 512);
pca9685.setChannelPulseWidth(PCA9685_CHANNEL_0, int(angle));
}
//Set the rotation parameters of servo 2, and the parameters are 0-180 degrees
void Servo_2_Angle(float angle)
{
angle = constrain(angle, 0, 180);
angle = map(angle, 0, 180, 102, 512);
pca9685.setChannelPulseWidth(PCA9685_CHANNEL_1, int(angle));
}
//Servo sweep function
void Servo_Sweep(int servo_id, int angle_start, int angle_end)
{
if (servo_id == 1)
{
angle_start = constrain(angle_start, 0, 180);
angle_end = constrain(angle_end, 0, 180);
}
else if (servo_id == 2)
{
angle_start = constrain(angle_start, 90, 150);
angle_end = constrain(angle_end, 90, 150);
}
if (angle_start > angle_end)
{
for (int i = angle_start; i >= angle_end; i--)
{
if (servo_id == 1)
Servo_1_Angle(i);
else if (servo_id == 2)
Servo_2_Angle(i);
delay(10);
}
}
if (angle_start < angle_end)
{
for (int i = angle_start; i <= angle_end; i++)
{
if (servo_id == 1)
Servo_1_Angle(i);
else if (servo_id == 2)
Servo_2_Angle(i);
delay(10);
}
}
}
//A function to control the car motor
void Motor_Move(int m1_speed, int m2_speed, int m3_speed, int m4_speed)
{
m1_speed = constrain(m1_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
m2_speed = constrain(m2_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
m3_speed = constrain(m3_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
m4_speed = constrain(m4_speed, MOTOR_SPEED_MIN, MOTOR_SPEED_MAX);
if (m1_speed >= 0)
{
pca9685.setChannelPulseWidth(PIN_MOTOR_M1_IN1, m1_speed);
pca9685.setChannelPulseWidth(PIN_MOTOR_M1_IN2, 0);
}
else
{
m1_speed = -m1_speed;
pca9685.setChannelPulseWidth(PIN_MOTOR_M1_IN1, 0);
pca9685.setChannelPulseWidth(PIN_MOTOR_M1_IN2, m1_speed);
}
if (m2_speed >= 0)
{
pca9685.setChannelPulseWidth(PIN_MOTOR_M2_IN1, m2_speed);
pca9685.setChannelPulseWidth(PIN_MOTOR_M2_IN2, 0);
}
else
{
m2_speed = -m2_speed;
pca9685.setChannelPulseWidth(PIN_MOTOR_M2_IN1, 0);
pca9685.setChannelPulseWidth(PIN_MOTOR_M2_IN2, m2_speed);
}
if (m3_speed >= 0)
{
pca9685.setChannelPulseWidth(PIN_MOTOR_M3_IN1, m3_speed);
pca9685.setChannelPulseWidth(PIN_MOTOR_M3_IN2, 0);
}
else
{
m3_speed = -m3_speed;
pca9685.setChannelPulseWidth(PIN_MOTOR_M3_IN1, 0);
pca9685.setChannelPulseWidth(PIN_MOTOR_M3_IN2, m3_speed);
}
if (m4_speed >= 0)
{
pca9685.setChannelPulseWidth(PIN_MOTOR_M4_IN1, m4_speed);
pca9685.setChannelPulseWidth(PIN_MOTOR_M4_IN2, 0);
}
else
{
m4_speed = -m4_speed;
pca9685.setChannelPulseWidth(PIN_MOTOR_M4_IN1, 0);
pca9685.setChannelPulseWidth(PIN_MOTOR_M4_IN2, m4_speed);
}
}

17
INF/beispiele/01.1_Car_Move_and_Turn/Freenove_4WD_Car_For_ESP32.h Normal file
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#ifndef _FREENOVE_4WD_CAR_H
#define _FREENOVE_4WD_CAR_H
#include <Arduino.h>
#include <PCA9685.h>
void PCA9685_Close_Com_Address(void);//Close the PCA9685 public address
/////////////////////PCA9685 drive area//////////////////////////////////////
void PCA9685_Setup(void); //servo initialization
void Servo_1_Angle(float angle); //Set the rotation parameters of servo 1, and the parameters are 0-180 degrees
void Servo_2_Angle(float angle); //Set the rotation parameters of servo 2, and the parameters are 0-180 degrees
void Servo_Sweep(int servo_id, int angle_start, int angle_end);//Servo sweep function;
void Motor_Move(int m1_speed, int m2_speed, int m3_speed, int m4_speed);//A function to control the car motor
#endif