Movement working

main/CMakeLists.txt

@@ -5,6 +5,6 @@ set(srcs
 
 set(requires "bluepad32" "bluepad32_arduino" "arduino" "btstack" "callbacks")
 
-idf_component_register(SRCS "${srcs}"
+idf_component_register(SRCS "LineSensor.cpp" "MotorMovements.cpp" "${srcs}"
                     INCLUDE_DIRS "."
                     REQUIRES "${requires}")

main/LineSensor.cpp

@@ -0,0 +1,27 @@
+#include "sdkconfig.h"
+#include <Arduino.h>
+
+#include <QTRSensors.h>
+
+QTRSensors qtr;
+uint16_t sensors[2];
+
+void setup() {
+    // set up Serial Communication and sensor pins
+    Serial.begin(115200);
+    qtr.setTypeAnalog(); // or setTypeAnalog()
+    qtr.setSensorPins((const uint8_t[]) {32, 33}, 2); // pin numbers go in the curly brackets {}, and number of sensors in use goes after
+
+    // calibration sequence
+    for (uint8_t i = 0; i < 250; i++) { 
+        Console.printf("calibrating %d/250\n", i); // 250 is the number of calibrations recommended by manufacturer
+        qtr.calibrate(); 
+        delay(20);
+    }
+}
+
+void loop() {
+    qtr.readLineBlack(sensors); // Get calibrated sensor values returned into sensors[]
+    Console.printf("S1: %d S2: %d\n", sensors[0], sensors[1]);
+    delay(250);
+}

main/MotorMovements.cpp

@@ -0,0 +1,64 @@
+#include "sdkconfig.h"
+#include <Arduino.h>
+#include <ESP32Servo.h>
+#include <Bluepad32.h>
+#include <uni.h>
+#include "controller_callbacks.h"
+#include "MotorMovements.h"
+
+#define IN1  16  // Control pin 1
+#define IN2  17  // Control pin 2
+#define IN3  22 // Control pin 3
+#define IN4  23 // Control pin 4
+
+extern ControllerPtr myControllers[BP32_MAX_GAMEPADS]; // BP32 library allows for up to 4 concurrent controller connections, but we only need 1
+
+void GoForward(int duty){
+
+    analogWrite(IN1,LOW);
+    digitalWrite(IN2,duty);
+    digitalWrite(IN3,duty);
+    analogWrite(IN4,LOW);
+
+}
+
+void GoBackward(int duty){
+
+    digitalWrite(IN1,duty);
+    digitalWrite(IN2, LOW);
+    digitalWrite(IN3,LOW);
+    digitalWrite(IN4,duty);
+
+}
+
+void GoLeft(int duty){
+
+    digitalWrite(IN1,LOW);
+    digitalWrite(IN2,LOtW);
+    digitalWrite(IN3,duty);
+    digitalWrite(IN4,LOW);
+
+
+}
+
+void GoRight(int duty){
+
+    digitalWrite(IN1,LOW);
+    digitalWrite(IN2,duty);
+    digitalWrite(IN3,LOW);
+    digitalWrite(IN4,LOW);
+}
+
+void Stop(){
+
+    digitalWrite(IN1,LOW);
+    digitalWrite(IN2,LOW);
+    digitalWrite(IN3,LOW);
+    digitalWrite(IN4,LOW);
+
+
+}
+
+
+
+

main/MotorMovements.h

@@ -0,0 +1,23 @@
+#include "sdkconfig.h"
+#include <Arduino.h>
+#include <ESP32Servo.h>
+#include <Bluepad32.h>
+#include <uni.h>
+#include "controller_callbacks.h"
+
+#define IN1  16  // Control pin 1
+#define IN2  17  // Control pin 2
+#define IN3  22 // Control pin 3
+#define IN4  23 // Control pin 4
+
+extern ControllerPtr myControllers[BP32_MAX_GAMEPADS]; // BP32 library allows for up to 4 concurrent controller connections, but we only need 1
+
+void GoForward(int duty);
+
+void GoBackward(int duty);
+
+void GoLeft(int duty);
+
+void GoRight(int duty);
+
+void Stop();

main/arduino_main.cpp

@@ -4,9 +4,18 @@
 
 #include "sdkconfig.h"
 #include <Arduino.h>
+#include <ESP32Servo.h>
 #include <Bluepad32.h>
 #include <uni.h>
 #include "controller_callbacks.h"
+#include "MotorMovements.h"
+
+#define IN1  16  // Control pin 1
+#define IN2  17  // Control pin 2
+#define IN3  22 // Control pin 3
+#define IN4  23 // Control pin 4
+
+
 
 extern ControllerPtr myControllers[BP32_MAX_GAMEPADS]; // BP32 library allows for up to 4 concurrent controller connections, but we only need 1
 
@@ -29,26 +38,73 @@ void dumpGamepad(ControllerPtr ctl) {
     );
 }
 
+Servo myServo;
+
+
 void setup() {
+
+    Serial.begin(115200);
+
     BP32.setup(&onConnectedController, &onDisconnectedController);
     BP32.forgetBluetoothKeys(); 
     esp_log_level_set("gpio", ESP_LOG_ERROR); // Suppress info log spam from gpio_isr_service
     uni_bt_allowlist_set_enabled(true);
+    // myServo.attach(12);
+    pinMode(IN1, OUTPUT);
+    pinMode(IN2, OUTPUT);
+    pinMode(IN3, OUTPUT);
+    pinMode(IN4, OUTPUT);
 }
 
 void loop() {
+
     vTaskDelay(1); // Ensures WDT does not get triggered when no controller is connected
+
+
+    // myServo.write(0); // Rotate to 0 degrees
+    // delay(1000); // Delay 1000 ms
+    // myServo.write(180); // Rotate to 180 degrees
+    // delay(1000);
+
     BP32.update(); 
     for (auto myController : myControllers) { // Only execute code when controller is connected
         if (myController && myController->isConnected() && myController->hasData()) {        
 
-            /*
-            ====================
-            Your code goes here!
-            ====================
-            */
+            if(myController->axisY() < -200){           // go forward
+
+                GoForward(255);
+
+                delay(250); // Run for .25 second
+
+            } 
+            else if(myController->axisY() > 200){       // go backward
+
+                GoBackward(255);
+
+                delay(250); // Run for .25 second
+
+
+            }  
+            else if(myController->axisX() < -200){      // turn left
+
+                GoLeft(255);
+
+                delay(250); // Run for .25 second
+
+
+            }
+            else if(myController->axisX() > 200){       // turn right
+
+                GoRight(255);
+
+                delay(250); // Run for .25 second
+
+            }
+
+
 
             dumpGamepad(myController); // Prints the gamepad state, delete or comment if don't need
         }
     }
+    vTaskDelay(1); // Yield CPU to not starve other ESP32 processes and cause WDT reset
 }