Update test code

Chi-EEE · Jan 1, 2024 · 127d8e8 · 127d8e8
1 parent 01154bd
commit 127d8e8
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Showing 3 changed files with 112 additions and 68 deletions.
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h
@@ -6,45 +6,42 @@
 #include "pigpio.h"
 #include "pigpiod_if2.h"
 
-namespace tb6612
+enum MotorStatus
 {
-    enum MotorStatus
-    {
-        UNINITIALIZED,
-        FORWARD,
-        BACKWARD
-    };
-    class Motor
-    {
-    public:
-        Motor(
-            const int &direction_channel,
-            const int &pwn = 0,
-            const bool &offset = true,
-            const int &frequency = 1000);
-
-        void setSpeed(int speed);
-        void forward();
-        void backward();
-        void stop();
-
-        MotorStatus getStatus() const { return this->status; }
-        int getSpeed() const { return this->speed; }
-        bool isMoving() const { return this->speed > 0; }
-
-    private:
-        const int direction_channel;
-        const int pwm;
-        const bool offset;
-
-        const bool forward_offset;
-        const bool backward_offset;
-
-        const int frequency;
-
-        MotorStatus status = UNINITIALIZED;
-        int speed = 0;
-    }
+    UNINITIALIZED,
+    FORWARD,
+    BACKWARD
+};
+class Motor
+{
+public:
+    Motor(
+        const int &direction_channel,
+        const int &pwn = 0,
+        const bool &offset = true,
+        const int &frequency = 1000);
+
+    void setSpeed(int speed);
+    void forward();
+    void backward();
+    void stop();
+
+    MotorStatus getStatus() const { return this->status; }
+    int getSpeed() const { return this->speed; }
+    bool isMoving() const { return this->speed > 0; }
+
+private:
+    const int direction_channel;
+    const int pwm;
+    const bool offset;
+
+    const bool forward_offset;
+    const bool backward_offset;
+
+    const int frequency;
+
+    MotorStatus status = UNINITIALIZED;
+    int speed = 0;
 }
 
 #endif
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/src/TB6612.cpp b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/src/TB6612.cpp
@@ -1,38 +1,35 @@
 #include "TB6612.h"
 
-namespace tb6612
+Motor::Motor(const int &direction_channel, const int &pwn, const bool &offset, const int &frequency)
+    : direction_channel(direction_channel),
+      pwm(pwm),
+      offset(offset),
+      forward_offset(offset),
+      backward_offset(!offset),
+      frequency(frequency)
 {
-    Motor::Motor(const int &direction_channel, const int &pwn, const bool &offset, const int &frequency)
-        : direction_channel(direction_channel),
-          pwm(pwm),
-          offset(offset),
-          forward_offset(offset),
-          backward_offset(!offset),
-          frequency(frequency)
-    {
-        gpioSetMode(direction_channel, PI_OUTPUT);
-    }
+    gpioSetMode(direction_channel, PI_OUTPUT);
+}
 
-    Motor::setSpeed(int speed)
-    {
-        this->speed = speed;
-        gpioHardwarePWM(pwm, 1000, speed);
-    }
+Motor::setSpeed(int speed)
+{
+    this->speed = speed;
+    gpioHardwarePWM(pwm, 1000, speed);
+}
 
-    void Motor::forward()
-    {
-        gpioWrite(direction_channel, forward_offset);
-        this->status = FORWARD;
-    }
+void Motor::forward()
+{
+    gpioWrite(direction_channel, forward_offset);
+    this->status = FORWARD;
+}
 
-    void Motor::backward()
-    {
-        gpioWrite(direction_channel, backward_offset);
-        this->status = BACKWARD;
-    }
+void Motor::backward()
+{
+    gpioWrite(direction_channel, backward_offset);
+    this->status = BACKWARD;
+}
 
-    void Motor::stop()
-    {
-        this->setSpeed(0);
-    }
+void Motor::stop()
+{
+    this->setSpeed(0);
 }
diff --git a/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp b/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp
@@ -1,10 +1,60 @@
 #include <thread>
 
+#include "TB6612.h"
+
 #include "pigpio.h"
 #include "pigpiod_if2.h"
 
 void setupGPIOMotor();
 
+using namespace tb6612;
+
+class BackWheels {
+private:
+    static constexpr int motor_A = 17;
+    static constexpr int motor_B = 27;
+
+    static constexpr int pwm_A = 4;
+    static constexpr int pwm_B = 5;
+public:
+    BackWheels(const int &bus_number = 1) : pwm(bus_number) {
+
+    }
+
+    void forward() {
+        this->motor_A.forward();
+        this->motor_B.forward();
+    }
+
+    void backward() {
+        this->motor_A.backward();
+        this->motor_B.backward();
+    }
+
+    void stop() {
+        this->motor_A.stop();
+        this->motor_B.stop();
+    }
+
+    void setSpeed(int speed) {
+        this->motor_A.setSpeed(speed);
+        this->motor_B.setSpeed(speed);
+        this->speed = speed;
+    }
+
+private:
+    bool forward_A = true;
+    bool forward_B = true;
+
+    TB6612 motor_A = TB6612(motor_A, pwm_A, forward_A);
+    TB6612 motor_B = TB6612(motor_B, pwm_B, forward_B);
+
+    PCA9685 pwm;
+
+    int speed = 0;
+}
+
+
 int main()
 {
     setupGPIOMotor();