fix: variable name collision

Author: YoshinobuObata

src/MakerBoard.cpp

@@ -89,12 +89,105 @@ long MakerBoard::Ultrasonic::Ranging(){
   pinMode(TP,OUTPUT);
   pinMode(EP,INPUT);
 
+  digitalWrite(TP, LOW);
+  delayMicroseconds(2);/**
+ * @file MakerBoard.h
+ * @author Yoshinobu Obata
+ * @brief Standard library for メイカーボード
+ * @version 0.1
+ * @date 2024-09-10
+ * Change log:
+ * 
+ * @copyright Copyright (c) 2024 Yukai Engineering Inc.
+ * 
+ */
+#include <Arduino.h>
+#include "MakerBoard.h"
+#include <MsTimer2.h>
+
+MakerBoardMotor Motor1(MakerBoard::DCM1_A, MakerBoard::DCM1_B);
+MakerBoardMotor Motor2(MakerBoard::DCM2_A, MakerBoard::DCM2_B);
+MakerBoardMotor Motor3(MakerBoard::DCM3_A, MakerBoard::DCM3_B);
+MakerBoardMotor Motor4(MakerBoard::DCM4_A, MakerBoard::DCM4_B);
+
+/**
+ * @brief DCモーターのピン設定．GPIO２〜GPIO９ピンが使用される．
+ * (Configure the DC motor driver pins from GPIO2 to GPIO9.)
+ */
+void MakerBoard::motorPinSetup(){
+  pinMode(this->DCM1_A, OUTPUT);
+  pinMode(this->DCM1_B, OUTPUT);
+  pinMode(this->DCM2_A, OUTPUT);
+  pinMode(this->DCM2_B, OUTPUT);
+  pinMode(this->DCM3_A, OUTPUT);
+  pinMode(this->DCM3_B, OUTPUT);
+  pinMode(this->DCM4_A, OUTPUT);
+  pinMode(this->DCM4_B, OUTPUT);
+}
+
+/**
+ * @brief モーターを回転させ，パルスのトップをカウントする．このメソッドはTIMER_FREQUENCYでタイマー実行されることを想定している．
+ * (Rotate the motor and count the top of the pulses. This method is assumed to be executed by a timer with TIMER_FREQUENCY.)
+ * 
+ */
+static void MakerBoard::motorPulseCounter()
+{
+  Motor1.run();
+  Motor2.run();
+  Motor3.run();
+  Motor4.run();
+  Motor1.top_cnt++;
+  Motor2.top_cnt++;
+  Motor3.top_cnt++;
+  Motor4.top_cnt++;
+  if (Motor1.top_cnt > Motor1.PERIODIC_TIME){
+    Motor1.top_cnt = 0;
+  }
+  if (Motor2.top_cnt > Motor2.PERIODIC_TIME){
+    Motor2.top_cnt = 0;
+  }
+  if (Motor3.top_cnt > Motor3.PERIODIC_TIME){
+    Motor3.top_cnt = 0;
+  }
+  if (Motor4.top_cnt > Motor4.PERIODIC_TIME){
+    Motor4.top_cnt = 0;
+  }
+}
+
+/**
+ * @brief DCモーターのPWMを生成する．(Set time for DC motor PWM control.)
+ * 
+ */
+void MakerBoard::motorPWMBegin(){
+  // Set DC motor control PWM generation with timer
+  this->motorPinSetup();
+  MsTimer2::set(this->TIMER_FREQUENCY, this->motorPulseCounter);
+  MsTimer2::start();
+}
+
+MakerBoard::Ultrasonic::Ultrasonic(int Trig_Pin, int Echo_Pin)
+{
+  pinMode(Trig_Pin,OUTPUT);
+  pinMode(Echo_Pin,INPUT);
+  TP = Trig_Pin;
+  EP = Echo_Pin;
+}
+
+long MakerBoard::Ultrasonic::Ranging(){
   digitalWrite(TP, LOW);
   delayMicroseconds(2);
   digitalWrite(TP, HIGH);
   delayMicroseconds(10);
   digitalWrite(TP, LOW);
 
+  long duration = pulseIn(EP,HIGH);
+  long distance_cm = duration /29 / 2 ;
+  return distance_cm;
+}
+  digitalWrite(TP, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(TP, LOW);
+
   long duration = pulseIn(EP,HIGH);
   long distance_cm = duration /29 / 2 ;
   return distance_cm;

src/MakerBoard.h

@@ -49,7 +49,7 @@ class MakerBoard
 
     class Ultrasonic {
     public:
-        Ultrasonic(int TP, int EP);
+        Ultrasonic(int Trig_Pin, int Echo_Pin);
         long Ranging();
     private:
         int TP;