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#include "BeerBotCtrl.h"

BeerBot::BeerBot()

: SonarFL(TRIGGER_PIN_FL,ECHO_PIN_FL,400), SonarFML(TRIGGER_PIN_FML,ECHO_PIN_FML,400),

SonarFMR(TRIGGER_PIN_FMR,ECHO_PIN_FMR,400),SonarFR(TRIGGER_PIN_FR,ECHO_PIN_FR,400)

{

//Pin map

//MOTOR PINS

_INA1 = 2;

_INB1 = 4;

_EN1DIAG1 = 6;

_CS1 = A0;

_INA2 = 7;

_INB2 = 8;

_EN2DIAG2 = 12;

_CS2 = A1;

}

// Public Methods //////////////////////////////////////////////////////////////

void BeerBot::init()

{

// Define pinMode for the pins and set the frequency for timer1.

pinMode(_INA1,OUTPUT);

pinMode(_INB1,OUTPUT);

pinMode(_PWM1,OUTPUT);

pinMode(_EN1DIAG1,INPUT);

pinMode(_CS1,INPUT);

pinMode(_INA2,OUTPUT);

pinMode(_INB2,OUTPUT);

pinMode(_PWM2,OUTPUT);

pinMode(_EN2DIAG2,INPUT);

pinMode(_CS2,INPUT);

#if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) || defined(__AVR_ATmega32U4__)

// Timer 1 configuration

// prescaler: clockI/O / 1

// outputs enabled

// phase-correct PWM

// top of 400

// PWM frequency calculation

// 16MHz / 1 (prescaler) / 2 (phase-correct) / 400 (top) = 20kHz

TCCR1A = 0b10100000;

TCCR1B = 0b00010001;

ICR1 = 400;

#endif

}

// Set speed for motor 1, speed is a number between -400 and 400

void BeerBot::setLeftMotor(int speed)

{

unsigned char reverse = 0;

if (speed < 0)

{

speed = -speed; // Make speed a positive quantity

reverse = 1; // Preserve the direction

}

if (speed > 400) // Max PWM dutycycle

speed = 400;

#if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) || defined(__AVR_ATmega32U4__)

OCR1A = speed;

#else

analogWrite(_PWM1,speed * 51 / 80); // default to using analogWrite, mapping 400 to 255

#endif

if (speed == 0)

{

digitalWrite(_INA1,LOW); // Make the motor coast no

digitalWrite(_INB1,LOW); // matter which direction it is spinning.

}

else if (reverse)

{

digitalWrite(_INA1,LOW);

digitalWrite(_INB1,HIGH);

}

else

{

digitalWrite(_INA1,HIGH);

digitalWrite(_INB1,LOW);

}

// Set speed for motor 2, speed is a number betwenn -400 and 400

void BeerBot::setRightMotor(int speed)

{

unsigned char reverse = 0;

if (speed < 0)

{

speed = -speed; // make speed a positive quantity

reverse = 1; // preserve the direction

}

if (speed > 400) // Max

speed = 400;

#if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) || defined(__AVR_ATmega32U4__)

OCR1B = speed;

#else

analogWrite(_PWM2,speed * 51 / 80); // default to using analogWrite, mapping 400 to 255

#endif

if (speed == 0)

{

digitalWrite(_INA2,LOW); // Make the motor coast no

digitalWrite(_INB2,LOW); // matter which direction it is spinning.

}

else if (reverse)

{

digitalWrite(_INA2,LOW);

digitalWrite(_INB2,HIGH);

}

else

{

digitalWrite(_INA2,HIGH);

digitalWrite(_INB2,LOW);

}

// Set speed for motor 1 and 2

void BeerBot::setMotors(int leftSpeed, int rightSpeed)

{

setLeftMotor(leftSpeed);

setRightMotor(rightSpeed);

}

// Brake motor 1, brake is a number between 0 and 400

void BeerBot::setLeftBrake(int brake)

{

// normalize brake

if (brake < 0)

{

brake = -brake;

}

if (brake > 400) // Max brake

brake = 400;

digitalWrite(_INA1, LOW);

digitalWrite(_INB1, LOW);

#if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) || defined(__AVR_ATmega32U4__)

OCR1A = brake;

#else

analogWrite(_PWM1,brake * 51 / 80); // default to using analogWrite, mapping 400 to 255

#endif

}

// Brake motor 2, brake is a number between 0 and 400

void BeerBot::setRightBrake(int brake)

{

// normalize brake

if (brake < 0)

{

brake = -brake;

}

if (brake > 400) // Max brake

brake = 400;

digitalWrite(_INA2, LOW);

digitalWrite(_INB2, LOW);

#if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__) || defined(__AVR_ATmega32U4__)

OCR1B = brake;

#else

analogWrite(_PWM2,brake * 51 / 80); // default to using analogWrite, mapping 400 to 255

#endif

}

// Brake motor 1 and 2, brake is a number between 0 and 400

void BeerBot::setBrakes(int leftBrake, int rightBrake)

{

setLeftBrake(leftBrake);

setRightBrake(rightBrake);

}

// Return motor 1 current value in milliamps.

unsigned int BeerBot::getLMCurrentMilliamps()

{

// 5V / 1024 ADC counts / 144 mV per A = 34 mA per count

return analogRead(_CS1) * 34;

}

// Return motor 2 current value in milliamps.

unsigned int BeerBot::getRMCurrentMilliamps()

{

// 5V / 1024 ADC counts / 144 mV per A = 34 mA per count

return analogRead(_CS2) * 34;

}

// Return error status for motor 1

unsigned char BeerBot::getLMFault()

{

return !digitalRead(_EN1DIAG1);

}

// Return error status for motor 2

unsigned char BeerBot::getRMFault()

{

return !digitalRead(_EN2DIAG2);

}

// SONAR METHODS //

void BeerBot::updateSonarFL()

{

sonar_distance[0] = SonarFL.ping_cm();

}

void BeerBot::updateSonarFML()

{

sonar_distance[1] = SonarFML.ping_cm();

}

void BeerBot::updateSonarFMR()

{

sonar_distance[2] = SonarFMR.ping_cm();

}

void BeerBot::updateSonarFR()

{

sonar_distance[3] = SonarFR.ping_cm();

}

void BeerBot::updateSonars()

{

sonar_distance[0] = SonarFL.ping_cm();

sonar_distance[1] = SonarFML.ping_cm();

sonar_distance[2] = SonarFMR.ping_cm();

sonar_distance[3] = SonarFR.ping_cm();

}

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