marin.gerard/moniks_bot
1
0
Fork 0
forked from julien.oculi/fork_mon_premier_robot
Code Pull requests Activity

refactor(server): ♻️ simplify motor control and remove code duplication

Browse source
This commit is contained in:
Julien Oculi 2024-06-25 17:20:53 +02:00
parent 05e3b607a2
commit c1cdd646e2
1 changed files with 29 additions and 137 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

166
server/commande_telephone.ino
View file

@ -196,175 +196,67 @@ void chooseCommand()
}
}
void writeMotor(uint8_t left, uint8_t right)
{
digitalWrite(IN4a, left & 0b1000);
digitalWrite(IN3a, left & 0b0100);
digitalWrite(IN2a, left & 0b0010);
digitalWrite(IN1a, left & 0b0001);
digitalWrite(IN4b, right & 0b1000);
digitalWrite(IN3b, right & 0b0100);
digitalWrite(IN2b, right & 0b0010);
digitalWrite(IN1b, right & 0b0001);
}
void forward()
{
digitalWrite(IN4a, HIGH);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, HIGH);
writeMotor(0b1000, 0b0001);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, HIGH);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, HIGH);
digitalWrite(IN1b, LOW);
writeMotor(0b0100, 0b0010);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, HIGH);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, HIGH);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b0010, 0b0100);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, HIGH);
digitalWrite(IN4b, HIGH);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b0001, 0b1000);
delay(delayTime);
}
void backward()
{
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, HIGH);
digitalWrite(IN4b, HIGH);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b0001, 0b1000);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, HIGH);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, HIGH);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b0010, 0b0100);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, HIGH);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, HIGH);
digitalWrite(IN1b, LOW);
writeMotor(0b0100, 0b0010);
delay(delayTime);
digitalWrite(IN4a, HIGH);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, HIGH);
writeMotor(0b1000, 0b0001);
delay(delayTime);
}
void right()
{
digitalWrite(IN4a, HIGH);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, HIGH);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b1000, 0b1000);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, HIGH);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, HIGH);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b0100, 0b0100);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, HIGH);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, HIGH);
digitalWrite(IN1b, LOW);
writeMotor(0b0010, 0b0010);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, HIGH);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, HIGH);
writeMotor(0b0001, 0b0001);
delay(delayTime);
}
void left()
{
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, HIGH);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, HIGH);
writeMotor(0b0001, 0b0001);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, HIGH);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, HIGH);
digitalWrite(IN1b, LOW);
writeMotor(0b0010, 0b0010);
delay(delayTime);
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, HIGH);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, HIGH);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b0100, 0b0100);
delay(delayTime);
digitalWrite(IN4a, HIGH);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, HIGH);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b1000, 0b1000);
delay(delayTime);
}
void stopMotors(void)
{
digitalWrite(IN4a, LOW);
digitalWrite(IN3a, LOW);
digitalWrite(IN2a, LOW);
digitalWrite(IN1a, LOW);
digitalWrite(IN4b, LOW);
digitalWrite(IN3b, LOW);
digitalWrite(IN2b, LOW);
digitalWrite(IN1b, LOW);
writeMotor(0b0000, 0b0000);
}