Motor experimental changes

.gitignore

@@ -30,3 +30,5 @@
 *.exe
 *.out
 *.app
+.vscode/c_cpp_properties.json
+.vscode/settings.json

examples/MotorSpeedTest/MotorSpeedTest.ino

@@ -0,0 +1,44 @@
+#include <Arduino.h>
+#include <RBE1001Lib.h>
+
+Motor left_motor;
+Motor right_motor;
+bool upDown=false;
+/*
+ * This is the standard setup function that is called when the ESP32 is rebooted
+ * It is used to initialize anything that needs to be done once.
+ */
+void setup() {
+  // This will initialize the Serial as 115200 for prints
+  Serial.begin(115200);
+  Motor::allocateTimer(0);
+  // pin definitions https://wpiroboticsengineering.github.io/RBE1001Lib/RBE1001Lib_8h.html#define-members
+  left_motor.attach(MOTOR_LEFT_PWM, MOTOR_LEFT_DIR, MOTOR_LEFT_ENCA, MOTOR_LEFT_ENCB);
+  right_motor.attach(MOTOR_RIGHT_PWM, MOTOR_RIGHT_DIR, MOTOR_RIGHT_ENCA, MOTOR_RIGHT_ENCB);
+}
+
+
+/*
+ * The main loop for the program. The loop function is repeatedly called
+ * once the ESP32 is started.
+ */
+void loop() 
+{
+	float speed = 360 * sin(2*3.14*(millis()%10000)/10000.);
+	left_motor.setSpeed(speed);
+	right_motor.setSpeed(speed);
+
+	Serial.print("SP: ");
+	Serial.print(speed);
+	Serial.print('\t');
+
+	Serial.print("L: ");
+	Serial.print(left_motor.getDegreesPerSecond());
+	Serial.print('\t');
+
+	Serial.print("R: ");
+	Serial.print(right_motor.getDegreesPerSecond());
+	Serial.print('\n');
+
+	delay(100);
+}

examples/MotorTest/MotorTest.ino

@@ -1,53 +1,104 @@
+/*
+ * This program will wait for the button to be pressed and then:
+ *  command the left motor to spin at 60 rpm, 
+ *  wait 5 seconds, 
+ *  and then stop the motor. 
+ * While the motor is spinning, the program will print out how much it has turned (in degrees).
+ */
+
 #include <Arduino.h>
+#include <Esp32WifiManager.h>
+#include <WebServer.h>
+#include <ESPmDNS.h>
 #include <RBE1001Lib.h>
 
 Motor motor1;
 Motor motor2;
-bool upDown=false;
+// pin definitions https://wpiroboticsengineering.github.io/RBE1001Lib/RBE1001Lib_8h.html#define-members
+const int buttonPin = BOOT_FLAG_PIN ;
+
 /*
  * This is the standard setup function that is called when the ESP32 is rebooted
  * It is used to initialize anything that needs to be done once.
  */
-void setup() {
+void setup() 
+{
   // This will initialize the Serial as 115200 for prints
   Serial.begin(115200);
   Motor::allocateTimer(0);
   // pin definitions https://wpiroboticsengineering.github.io/RBE1001Lib/RBE1001Lib_8h.html#define-members
   motor1.attach(MOTOR1_PWM, MOTOR1_DIR, MOTOR1_ENCA, MOTOR1_ENCB);
   motor2.attach(MOTOR2_PWM, MOTOR2_DIR, MOTOR2_ENCA, MOTOR2_ENCB);
+  //explicitly make the button pin an input and engage the internal pullup resistor
+  pinMode(buttonPin, INPUT_PULLUP);
 }
 
 
 /*
  * The main loop for the program. The loop function is repeatedly called
  * once the ESP32 is started.
  */
-void loop() {
-	upDown=!upDown;
-	motor1.SetSetpointWithLinearInterpolation(upDown?3600:0, 8000);
-	//motor2.SetSetpointWithLinearInterpolation(upDown?360:0, 2000);
-	//motor2.SetSetpointWithBezierInterpolation(upDown?3600:0, 8000,0.45,1);
-	motor2.SetSetpointWithTrapezoidalInterpolation(upDown?3600:0, 8000, 500);
-	double peak1 = 0;
-	double peak2 =0;
-
-	for(int i=0;i<400;i++){
-		if(abs(motor1.getDegreesPerSecond())>peak1){
-			peak1=abs(motor1.getDegreesPerSecond());
-		}
-		if(abs(motor2.getDegreesPerSecond())>peak2){
-			peak2=abs(motor2.getDegreesPerSecond());
-		}
-		delay(20);
-		Serial.println("motor compared  "+String(motor2.getInterpolationUnitIncrement()-motor1.getInterpolationUnitIncrement())+
-				+" Interp "+String(motor2.getInterpolationUnitIncrement())+
-				+" Vel 1 "+String(motor1.getDegreesPerSecond())+" Vel 2 "+String(motor2.getDegreesPerSecond()));
-	}
-	delay(100);
-	Serial.println("Count 1 "+String(motor1.getCurrentDegrees())+
-					" Count 2 "+String(motor2.getCurrentDegrees()));
-	delay(5000);
-
-
- }
+void loop() 
+{
+  //The following line will cause the program to wait indefinitely until the button is pressed
+  while(digitalRead(buttonPin)) {} 
+
+  Serial.println("Setting speeds");
+
+  motor1.SetSpeed(180); 
+  motor2.SetSpeed(-180); 
+
+  uint32_t startTime = millis(); //note when the motor started
+
+
+  while(millis() - startTime < 3000) //run for 3 seconds
+  {
+    Serial.print(motor1.getCurrentDegrees()); //motor1 position
+    Serial.print('\t'); //TAB character
+    Serial.print(motor2.getCurrentDegrees()); //motor2 position
+    Serial.print('\n'); //newline character
+  }
+
+	// stop the motor
+	motor1.SetSpeed(0);
+	motor2.SetSpeed(0);
+
+  //The following line will cause the program to wait indefinitely until the button is pressed
+  while(digitalRead(buttonPin)) {} 
+
+  motor1.SetEffort(0.35); 
+  motor2.SetEffort(-0.25); 
+
+  startTime = millis(); //note when the motor started
+
+  while(millis() - startTime < 3000) //run for 3 seconds
+  {
+    Serial.print(motor1.getCurrentDegrees()); //motor1 position
+    Serial.print('\t'); //TAB character
+    Serial.print(motor2.getCurrentDegrees()); //motor2 position
+    Serial.print('\n'); //newline character
+  }
+
+	// stop the motor
+	motor1.SetEffort(0);
+	motor2.SetEffort(0);
+
+  //The following line will cause the program to wait indefinitely until the button is pressed
+  while(digitalRead(buttonPin)) {}
+  motor1.StartMoveFor(720, -540); 
+  motor2.MoveFor(-720, 540); 
+
+  //The following line will cause the program to wait indefinitely until the button is pressed
+  while(digitalRead(buttonPin)) {}
+
+  motor1.StartMoveTo(0, -180); 
+  motor2.MoveTo(0, 180); 
 
+  while(digitalRead(buttonPin)) //run for 3 seconds
+  {
+    Serial.print(motor1.getCurrentDegrees()); //motor1 position
+    Serial.print('\t'); //TAB character
+    Serial.print(motor2.getCurrentDegrees()); //motor2 position
+    Serial.print('\n'); //newline character
+  }
+}

examples/RCCTL/RCCTL.ino

@@ -24,7 +24,6 @@ WebPage buttonPage;
 
 WifiManager manager;
 
-
 Timer dashboardUpdateTimer;  // times when the dashboard should update
 /*
  * This is the standard setup function that is called when the ESP32 is rebooted

examples/week01/button/button.ino

@@ -1,4 +1,6 @@
-  // pin definitions https://wpiroboticsengineering.github.io/RBE1001Lib/RBE1001Lib_8h.html#define-members
+#include <RBE1001Lib.h>
+
+// pin definitions https://wpiroboticsengineering.github.io/RBE1001Lib/RBE1001Lib_8h.html#define-members
 const int buttonPin = BOOT_FLAG_PIN;     // the number of the pushbutton pin
 const int ledPin =  13;      // the number of the LED pin