DRV8833.cpp

#include "Arduino.h"
#include "DRV8833.h"
//Motors Group A
    //const int m1_a=33;
    //const int m1_b=32;
    //const int m1_pwm=25;
//Motors Group B
    //const int m2_a=27;
    //const int m2_b=26;
    //const int m2_pwm=14;
// setting PWM properties
const int freq = 5000;
const int resolution = 8;
const int channel_1 = 0;
const int channel_2 = 1;
const int channel_3 = 3;
const int channel_4 = 4;
DRV8833::DRV8833(int _m1_a, int _m1_b, int _m2_a, int _m2_b) {
    m1_a=_m1_a;
    m1_b=_m1_b;
    m2_a=_m2_a;
    m2_b=_m2_b;

    pinMode(m1_a,OUTPUT);
    pinMode(m1_b,OUTPUT);
    pinMode(m2_a,OUTPUT);
    pinMode(m2_b,OUTPUT);
     // configure LED PWM functionalitites
    ledcSetup(channel_1, freq, resolution);
    ledcSetup(channel_2, freq, resolution);
    ledcSetup(channel_3, freq, resolution);
    ledcSetup(channel_4, freq, resolution);
    // attach the channel to the GPIO to be controlled
    ledcAttachPin(m1_a, channel_1);
    ledcAttachPin(m1_b, channel_2);
    ledcAttachPin(m2_a, channel_3);
    ledcAttachPin(m2_b, channel_4);
}
void DRV8833::turn_left(int spd){
    move(0,spd,1);
    move(1,spd,0);
    delay(20);
    stop();
}
void DRV8833::turn_right(int spd){
    //move(0,spd,0);
    move(1,spd,1);
    delay(20);
    stop();
}
void DRV8833::left_1wd(int spd){
    move(0,spd,0);
    //move(1,spd,0);
    delay(20);
    stop();
}
void DRV8833::right_1wd(int spd){
    //move(0,spd,1);
    move(1,spd,0);
    delay(20);
    stop();
}
void DRV8833::forward(int spd){
    move(0,spd,0);
    move(1,spd,0);
    delay(20);
    stop();
}
void DRV8833::backward(int spd){
    move(0,spd,1);
    move(1,spd,1);
    delay(20);
    stop();
}
void DRV8833::move(int motor, int speed, int direction){
//Move specific motor at speed and direction
//motor: 0 for B 1 for A
//speed: 0 is off, and 255 is full speed
//direction: 0 clockwise, 1 counter-clockwise
    if (motor == 1){
        if (direction == 1) {
            digitalWrite(m1_a, LOW);
            //digitalWrite(m1_b, HIGH);
            ledcWrite(channel_2, speed);
            //ledcDetachPin(pin);
        } else {
            //digitalWrite(m1_a, HIGH);
            digitalWrite(m1_b, LOW);
            ledcWrite(channel_1, speed);
            //ledcDetachPin(pin);
        }
    } else {
        if (direction == 1) {
            //digitalWrite(m2_a, HIGH);
            digitalWrite(m2_b, LOW);
            ledcWrite(channel_3, speed);
            //ledcDetachPin(pin);
        } else {
            digitalWrite(m2_a, LOW);
            //digitalWrite(m2_b, HIGH);
            ledcWrite(channel_4, speed);
            //ledcDetachPin(pin);
        }
    }
}
void DRV8833::stop(){
    digitalWrite(m1_a,LOW);
    digitalWrite(m1_b,LOW);
    digitalWrite(m2_a,LOW);
    digitalWrite(m2_b,LOW);
}