project 2 pasted in to repo

2026-09-24 10:15:22 +00:00
parent fcc0f82dc6
commit 46c761dd25
24 changed files with 1038 additions and 0 deletions
@@ -0,0 +1,110 @@
+#include "motor_driver.h"
+
+#include <avr/io.h>
+
+
+MotorDriver::MotorDriver()
+{
+}
+
+
+void MotorDriver::begin()
+{
+    // Arduino D3  = PD3 = AIN1
+    // Arduino D11 = PB3 = AIN2
+
+    DDRD |= (1 << DDD3);
+    DDRB |= (1 << DDB3);
+
+    // Timer2 Fast PWM
+    TCCR2A = 0;
+    TCCR2B = 0;
+
+    // Fast PWM mode
+    TCCR2A |= (1 << WGM20);
+    TCCR2A |= (1 << WGM21);
+
+    // Non-inverting PWM on OC2A and OC2B
+    TCCR2A |= (1 << COM2A1);
+    TCCR2A |= (1 << COM2B1);
+
+
+    // Timer2 prescaler = 32
+    TCCR2B |= (1 << CS21);
+    TCCR2B |= (1 << CS20);
+
+    OCR2A = 0;
+    OCR2B = 0;
+
+    //stop();
+}
+
+
+void MotorDriver::forward()
+{
+    // AIN1 / D3  = HIGH
+    // AIN2 / D11 = LOW
+
+    //PORTD |= (1 << PORTD3);
+    //PORTB &= ~(1 << PORTB3);
+
+    OCR2A = 0;
+    OCR2B = 255;
+}
+
+
+void MotorDriver::reverse()
+{
+    // AIN1 / D3  = LOW
+    // AIN2 / D11 = HIGH
+
+    //PORTD &= ~(1 << PORTD3);
+    //PORTB |= (1 << PORTB3);
+
+    OCR2B = 0;
+    OCR2A = 255;
+}
+
+
+void MotorDriver::stop()
+{
+    // Both LOW
+
+    //PORTD &= ~(1 << PORTD3);
+    //PORTB &= ~(1 << PORTB3);
+
+    OCR2A = 0;
+    OCR2B = 0;
+}
+
+void MotorDriver::set(double pwm)
+{
+    // Limit PWM command
+    if (pwm > 255.0)
+    {
+        pwm = 255.0;
+    }
+
+    if (pwm < -255.0)
+    {
+        pwm = -255.0;
+    }
+
+
+    if (pwm > 0)
+    {
+        // Forward
+        OCR2A = 0;
+        OCR2B = (uint8_t)pwm;
+    }
+    else if (pwm < 0)
+    {
+        // Reverse
+        OCR2B = 0;
+        OCR2A = (uint8_t)(-pwm);
+    }
+    else
+    {
+        stop();
+    }
+}