GarandPLG
23d5003788
Introduce ENA pins for both motors and implement rpmToPwm and setMotor. Replace extensive Serial debug prints with concise motor‑drive logic in Engine::update. Consolidate sonar pins into a single TRIG_AND_ECHO_PIN. Update pinMode calls in the sketch to configure the new ENA pins.
65 lines
1.4 KiB
Arduino
65 lines
1.4 KiB
Arduino
#include <Wire.h>
|
|
|
|
#include "Config.h"
|
|
#include "Display.h"
|
|
#include "Gear.h"
|
|
// #include "Sonar.h"
|
|
#include "RFID.h"
|
|
#include "Engine.h"
|
|
|
|
Display display;
|
|
GearSelector gear(GEAR_X_PIN, GEAR_Y_PIN, GEAR_THRESH_LOW, GEAR_THRESH_HIGH);
|
|
// Sonar sonar(TRIG_PIN, ECHO_PIN, SONAR_MAX_DIST_CM);
|
|
RFIDReader rfid(SS_PIN, RST_PIN);
|
|
Engine engine(THROTTLE_PIN, CLUTCH_PIN, BRAKE_PIN);
|
|
|
|
unsigned long prevUpdate = 0;
|
|
|
|
bool carEnabled = false;
|
|
|
|
void setup() {
|
|
Serial.begin(9600);
|
|
|
|
pinMode(IN_1, OUTPUT);
|
|
pinMode(IN_2, OUTPUT);
|
|
pinMode(ENA_1, OUTPUT);
|
|
pinMode(IN_3, OUTPUT);
|
|
pinMode(IN_4, OUTPUT);
|
|
pinMode(ENA_2, OUTPUT);
|
|
|
|
rfid.begin();
|
|
display.begin(LCD_COLS, LCD_ROWS);
|
|
engine.begin();
|
|
}
|
|
|
|
void loop() {
|
|
bool check = rfid.check();
|
|
bool matches = rfid.matches(AUTH_UID, AUTH_UID_SIZE);
|
|
|
|
bool rfidOk = check && matches;
|
|
|
|
if (rfid.check() && rfid.matches(AUTH_UID, AUTH_UID_SIZE)) {
|
|
carEnabled = !carEnabled;
|
|
Serial.print("Auto działa: ");
|
|
Serial.println(carEnabled);
|
|
display.startOrEnd(carEnabled);
|
|
};
|
|
|
|
if (carEnabled) {
|
|
if (gear.update())
|
|
display.updateGear(gear.getGearChar());
|
|
|
|
unsigned long now = millis();
|
|
float dt = (now - prevUpdate) / 1000.0f;
|
|
if (dt >= 0.02f) {
|
|
prevUpdate = now;
|
|
engine.update(dt, gear.getGear());
|
|
display.updateRPM(engine.getRPM());
|
|
display.updateSpeed(engine.getSpeedKmh());
|
|
}
|
|
|
|
// long dist = sonar.measure();
|
|
// Serial.println(dist);
|
|
}
|
|
}
|