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not working duplicate .h
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5 files changed

+130
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‎Arduino_Robot_Firmware.cpp‎

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#include "Arduino_Robot_Firmware.h"
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Arduino_Robot_Firmware::Arduino_Robot_Firmware(){
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// I2C internal bus
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wire = new TwoWire(I2C_1_SDA, I2C_1_SCL);
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// RGB leds
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led1 = new RGBled(LED_1_RED,LED_1_GREEN,LED_1_BLUE);
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led2 = new RGBled(LED_2_RED,LED_2_GREEN,LED_2_BLUE);
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// motors
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motor_left = new DCmotor(MOTOR_LEFT_A,MOTOR_LEFT_A_CH, MOTOR_LEFT_B, MOTOR_LEFT_B_CH,true);
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motor_right = new DCmotor(MOTOR_RIGHT_A,MOTOR_RIGHT_A_CH,MOTOR_RIGHT_B,MOTOR_RIGHT_B_CH);
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// encoders
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encoder_left = new Encoder(TIM3);
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encoder_right = new Encoder(TIM5);
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// color sensor
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apds9960 = new APDS9960(*wire,APDS_INT);
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}
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int Arduino_Robot_Firmware::begin(){
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// setup alternate functions
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AF_Tim2_pwm();
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AF_Tim5_pins_encoder();
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AF_Tim3_pins_encoder();
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// turn off leds
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led1->clear();
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led2->clear();
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motor_left->begin();
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motor_right->begin();
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motor_left->stop();
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motor_right->stop();
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encoder_left->begin();
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encoder_right->begin();
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wire->begin();
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beginAPDS();
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return 0;
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}
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/******************************************************************************************************/
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/* Color sensor, APDS9960 */
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/******************************************************************************************************/
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int Arduino_Robot_Firmware::beginAPDS(){
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pinMode(APDS_LED,OUTPUT);
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enableIlluminator();
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apds9960->begin();
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return 0;
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}
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void Arduino_Robot_Firmware::updateAPDS(){
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if (apds9960->proximityAvailable()){
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bottom_proximity=apds9960->readProximity();
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}
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//digitalWrite(APDS_LED,HIGH);
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if (apds9960->colorAvailable()){
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apds9960->readColor(bottom_red,bottom_green,bottom_blue,bottom_clear);
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}
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//digitalWrite(APDS_LED,LOW);
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}
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void Arduino_Robot_Firmware::setIlluminator(uint8_t value){
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digitalWrite(APDS_LED,value);
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}
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void Arduino_Robot_Firmware::enableIlluminator(){
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setIlluminator(HIGH);
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}
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void Arduino_Robot_Firmware::disableIlluminator(){
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setIlluminator(LOW);
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}
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int Arduino_Robot_Firmware::getRed(){
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return bottom_red;
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}
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int Arduino_Robot_Firmware::getGreen(){
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return bottom_green;
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}
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int Arduino_Robot_Firmware::getBlue(){
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return bottom_blue;
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}
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int Arduino_Robot_Firmware::getProximity(){
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return bottom_proximity;
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}

‎Arduino_Robot_Firmware.h‎

Lines changed: 12 additions & 74 deletions
Original file line numberDiff line numberDiff line change
@@ -15,8 +15,6 @@ class Arduino_Robot_Firmware{
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APDS9960 * apds9960;
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int bottom_red, bottom_green, bottom_blue, bottom_clear, bottom_proximity;
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public:
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RGBled * led1;
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RGBled * led2;
@@ -27,82 +25,22 @@ class Arduino_Robot_Firmware{
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TwoWire * wire;
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Arduino_Robot_Firmware(){
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// I2C internal bus
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wire = new TwoWire(I2C_1_SDA, I2C_1_SCL);
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// RGB leds
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led1 = new RGBled(LED_1_RED,LED_1_GREEN,LED_1_BLUE);
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led2 = new RGBled(LED_2_RED,LED_2_GREEN,LED_2_BLUE);
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// motors
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motor_left = new DCmotor(MOTOR_LEFT_A,MOTOR_LEFT_A_CH, MOTOR_LEFT_B, MOTOR_LEFT_B_CH,true);
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motor_right = new DCmotor(MOTOR_RIGHT_A,MOTOR_RIGHT_A_CH,MOTOR_RIGHT_B,MOTOR_RIGHT_B_CH);
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// encoders
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encoder_left = new Encoder(TIM3);
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encoder_right = new Encoder(TIM5);
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// color sensor
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apds9960 = new APDS9960(*wire,APDS_INT);
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}
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int begin(){
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// setup alternate functions
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AF_Tim2_pwm();
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AF_Tim5_pins_encoder();
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AF_Tim3_pins_encoder();
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// turn off leds
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led1->clear();
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led2->clear();
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motor_left->begin();
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motor_right->begin();
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motor_left->stop();
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motor_right->stop();
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encoder_left->begin();
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encoder_right->begin();
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wire->begin();
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pinMode(APDS_LED,OUTPUT);
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digitalWrite(APDS_LED,HIGH);
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apds9960->begin();
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return 0;
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}
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void updateAPDS(){
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if (apds9960->proximityAvailable()){
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bottom_proximity=apds9960->readProximity();
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}
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//digitalWrite(APDS_LED,HIGH);
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if (apds9960->colorAvailable()){
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apds9960->readColor(bottom_red,bottom_green,bottom_blue,bottom_clear);
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}
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//digitalWrite(APDS_LED,LOW);
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}
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Arduino_Robot_Firmware();
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int getRed(){
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return bottom_red;
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}
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int begin();
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int getGreen(){
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return bottom_green;
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}
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int getBlue(){
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return bottom_blue;
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}
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int getProximity(){
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return bottom_proximity;
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}
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// Color sensor, APDS9960
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int beginAPDS(); // initialize all components required by color detection
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void updateAPDS(); // refresh data
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void setIlluminator(uint8_t value); // set white leds
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void enableIlluminator(); // white leds on
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void disableIlluminator(); // white leds off
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int getRed(); // red value 0-255
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int getGreen(); // green value 0-255
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int getBlue(); // blue value 0-255
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int getProximity(); // proximity value 0-127
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};
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#endif

‎dcmotor.h‎

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@@ -34,12 +34,18 @@ class DCmotor{
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}
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htimX.Instance = _tim;
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frequency=_frequency;
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pinMode(MOTORS_ENABLE,OUTPUT);
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}
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void begin(){
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timX = new HardwareTimer(htimX.Instance);
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timX->setPWM(chA, pinA, frequency, 0);
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timX->setPWM(chB, pinB, frequency, 0);
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timX->setPWM(chB, pinB, frequency, 0);
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digitalWrite(MOTORS_ENABLE,HIGH);
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}
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void disable(){
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digitalWrite(MOTORS_ENABLE,LOW);
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}
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void setSpeed(const int speed){

‎library.properties‎

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name=Arduino_Robot_Firmware
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version=0.0.1
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author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
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maintainer=Arduino <[email protected]>
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sentence=Library and firmware for Arduino Robot
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paragraph=Robot Robot Robot
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category=Firmware
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url=https://github.com/gbr1/Arduino_Robot_Firmware
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includes=Arduino_Robot_Firmware.h
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depends=Arduino_APDS9960

‎pinout_definitions.h‎

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#define __PINOUT_DEFINITIONS_H__
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#define MOTORS_ENABLE PD2
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// Right Motor
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#define ENC_RIGHT_TIMER TIM5
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#define ENC_RIGHT_A PA0

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