Upload files to 'SLAM_ROBOT/Arduino'

SLAM_ROBOT/Arduino/Motorz.h

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+#ifndef _MOTORZ_H  // not #ifnotdef
+#define _MOTORZ_H
+
+class Motorz
+{
+  private:
+  int motor_speed=0;
+  int enable,in1,in2,dir;
+  public:
+
+    Motorz(int Enb,int ina,int inb){
+      enable=Enb;
+      in1=ina;
+      in2=inb;
+      pinMode(enable,OUTPUT);
+      pinMode(in1,OUTPUT);
+      pinMode(in2,OUTPUT);
+    }  
+    Motorz(int Enb,int ina,int inb,int d){
+      enable=Enb;
+      in1=ina;
+      in2=inb;
+      dir=d;
+      pinMode(enable,OUTPUT);
+      pinMode(in1,OUTPUT);
+      pinMode(in2,OUTPUT);
+      Direction();
+    }
+    void SetSpeed(int Mspeed){
+      motor_speed=Mspeed;
+    }
+    int GetSpeed(){
+      return motor_speed;
+    }
+    void SetEnable(int pin){
+      enable=pin;
+    }
+    int GetEnable(){
+      return enable;
+    }
+    void SetInput1(int pin){
+      in1=pin;
+    }
+    int GetInput1(){
+      return in1;
+    }
+    void SetInput2(int pin){
+      in2=pin;
+    }
+    int GetInput2(){
+      return in2;
+    }
+    void SetDirection(int a){
+      dir=a;
+    }
+    int GetDirection(){
+      return dir;
+    }
+    void ChangeDir(){
+      if(dir==0){
+         dir=1;
+      }
+      else{
+         dir=0;
+      }
+    }
+    void Start(){
+      this->Direction();
+      analogWrite(enable,motor_speed);
+      }
+    void Stop(){
+         this->Halt();
+      }
+   private:
+    void Direction(){
+      if(dir==0){
+        digitalWrite(in1,HIGH);
+        digitalWrite(in2,LOW);
+      }
+      else{
+        digitalWrite(in1,LOW);
+        digitalWrite(in2,HIGH);
+      }
+    }
+    void Halt(){
+       digitalWrite(in1,LOW);
+       digitalWrite(in2,LOW);
+    }
+    
+};
+#endif _MOTOR_H

SLAM_ROBOT/Arduino/arduino.ino

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+#include "Motorz.h";
+#include "tankdrive.h";
+
+int i;
+int enr=5; // enable pin for motor r (must be pwm)
+int in1=4; // pin for one of the two connections of the mottor
+int in2=3;// other connection (these two are digital pins)
+// depends on how you end up wiring and placing the motors it will spin a certain way
+// and another way when you reverse the voltage , direct holds (0,1) depending on how you
+// wired the motor to go "forwards" what ever that means for your project
+int directr=0;
+int enl=6;
+int in3=7;
+int in4=8;
+int directl=0;
+
+//buffer reseaving messages from esp32
+char buffer1[(sizeof(char)+sizeof(unsigned long))*sizeof(char)+1];
+char a; //character to read L/R/F character from esp32
+unsigned long runforsmth; // how long to run the motors.
+Motorz motorR(enr,in1,in2,directr);//Right motor for the tankdrive system
+Motorz motorL(enl,in3,in4,directl);//Left motor for the tankdrive system
+
+//object to manage the movement of the robot
+TankDrive mytank(&motorR,directr,&motorL,directl);
+
+void setup(){
+  Serial.begin(9600); //serial to esp32 make sure baud rates match
+  motorR.SetSpeed(80);  //Set speed of right motor
+  motorL.SetSpeed(80);	//Set speed of left motor
+
+}
+
+
+void loop(){
+  //read message from arduino and run the motors
+  //for the time and direction dictated
+
+  while (Serial.available()) {
+        Serial.readBytes(buffer1,sizeof(buffer1));
+        sscanf( buffer1, "%c%lu",&a, &runforsmth);
+        run_for_millis(&mytank,a,runforsmth);
+    }
+}
+
+void run_for_millis(TankDrive *tank,char ch,unsigned long timetorun){
+
+  unsigned long count;
+  switch(ch){
+      case 'L': //going to rotate left  for timetorun millis
+              count=millis();
+              do{
+                tank->TurnLeft();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+
+      case 'F'://going to move forward for timetorun millis
+              count=millis();
+              do{
+                tank->MoveForward();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+      case 'R'://going to rotate right for timetorun millis
+              count=millis();
+              do{
+                 tank->TurnRight();}
+              while(millis()-count<=timetorun);
+              tank->Stop();
+              break;
+    }
+
+
+
+}

SLAM_ROBOT/Arduino/tankdrive.h

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+#ifndef _TANKDRIVE_H  // not #ifnotdef
+#define _TANKDRIVE_H
+
+#include "Motorz.h"
+
+class TankDrive
+{
+  Motorz *motorL;
+  Motorz *motorR;
+  int forwardR,forwardL,backR,backL;
+  public:
+  TankDrive(Motorz *MR,int fr,Motorz *ML,int fl){
+    motorL=ML;
+    motorR=MR;
+    forwardR=fr;
+    forwardL=fl;
+    if(fr==1)backR=0;
+    else backR=1;
+    if(fl==1)backL=0;
+    else backL=1;
+  }
+  void MoveForward(){
+    motorR->SetDirection(forwardR);
+    motorL->SetDirection(forwardL);
+    motorR->Start();
+    motorL->Start();
+  }
+    void MoveBack(){
+    motorR->SetDirection(backR);
+    motorL->SetDirection(backL);
+    motorR->Start();
+    motorL->Start();
+  }
+  void Stop(){
+
+    motorR->Stop();
+    motorL->Stop();
+  }
+  void TurnRight(){
+    motorR->SetDirection(backR);
+    motorL->SetDirection(forwardL);
+    motorR->Start();
+    motorL->Start();
+  }
+   void TurnLeft(){
+    motorR->SetDirection(forwardR);
+    motorL->SetDirection(backL);
+    motorL->Start();
+    motorR->Start();
+  }
+  int getFDirR(){
+     return forwardR; 
+    }
+ int getFDirL(){
+     return forwardL; 
+    }
+ int getBDirR(){
+     return backR;
+    }
+ int getBDirL(){
+     return backL; 
+    }
+};
+
+
+#endif _TANKDRIVE_H