Car can now move forwards

Chi-EEE · Jan 10, 2024 · 35c7dd0 · 35c7dd0
1 parent c50e890
commit 35c7dd0
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Showing 3 changed files with 19 additions and 10 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
@@ -21,12 +21,12 @@ class TB6612
 
     void stop();
 
-    void setOffset(int offset);
+    void setOffset(bool offset);
 
 private:
     int motor_pin;
     int pwm_pin;
-    int offset;
+    bool offset = true;
 };
 
 #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
@@ -2,12 +2,12 @@
 
 // Made with the help of ChatGPT
 
-TB6612::TB6612(int motor_pin, int pwm_pin) : motor_pin(motor_pin), pwm_pin(pwm_pin), offset(1)
+TB6612::TB6612(int motor_pin, int pwm_pin) : motor_pin(motor_pin), pwm_pin(pwm_pin)
 {
     gpioSetMode(this->motor_pin, PI_OUTPUT);
     gpioSetMode(this->pwm_pin, PI_OUTPUT);
-    gpioWrite(this->motor_pin, 0);
-    gpioPWM(this->pwm_pin, 0);
+    // gpioWrite(this->motor_pin, 0);
+    // gpioPWM(this->pwm_pin, 0);
 }
 
 void TB6612::setPWM(int value)
@@ -17,12 +17,12 @@ void TB6612::setPWM(int value)
 
 void TB6612::forward()
 {
-    gpioWrite(this->motor_pin, this->offset);
+    gpioWrite(this->motor_pin, 1);
 }
 
 void TB6612::backward()
 {
-    gpioWrite(this->motor_pin, 1 - this->offset);
+    gpioWrite(this->motor_pin, 0);
 }
 
 void TB6612::stop()
@@ -31,7 +31,7 @@ void TB6612::stop()
     gpioPWM(this->pwm_pin, 0);
 }
 
-void TB6612::setOffset(int offset)
+void TB6612::setOffset(bool offset)
 {
     this->offset = offset;
-}
+}
diff --git a/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp b/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp
@@ -32,13 +32,21 @@ class BackWheels
 
     void forward()
     {
+        // this->pca9685.setPWM(Motor_A, 1);
+        // this->pca9685.setPWM(Motor_B, 1);
+        // gpioWrite(Motor_A, 1);
+        // gpioWrite(Motor_B, 1);
         this->left_wheel->forward();
         this->right_wheel->forward();
         std::cout << "Forward" << std::endl;
     }
 
     void backward()
     {
+        // this->pca9685.setPWM(Motor_A, 0);
+        // this->pca9685.setPWM(Motor_B, 0);
+        // gpioWrite(Motor_A, 0);
+        // gpioWrite(Motor_B, 0);
         this->left_wheel->backward();
         this->right_wheel->backward();
         std::cout << "Backward" << std::endl;
@@ -48,6 +56,7 @@ class BackWheels
     {
         this->left_wheel->stop();
         this->right_wheel->stop();
+        this->pca9685.reset();
         std::cout << "Stop" << std::endl;
     }
 
@@ -106,10 +115,10 @@ class BackWheels
         std::cout << "CaliOK" << std::endl;
     }
 
+    PCA9685 pca9685;
 private:
     std::unique_ptr<TB6612> left_wheel;
     std::unique_ptr<TB6612> right_wheel;
-    PCA9685 pca9685;
     int forward_A;
     int forward_B;
     int cali_forward_A;