How can we help you today?
【函數】dual2s.h函數庫說明
簡介
我們依據DUAL22-2s的電路規劃特性，提供專用的函數庫以方便【快速應用與學習】的用途。當然，你也可以選擇不使用此函數庫，一樣可以完整地控制DUAL22-2s硬體功能。我們的函數庫完全開放、使用簡明的C/C++語法撰寫，你也可以據此修改更加適合你使用需求的函數庫。
備註：若您已經依據【ArduinoIDE-ESP32編輯環境】一文，完成程式環境的設定，則不需要另外再下載本篇程式碼進行匯入與編譯的工作。
編譯與使用
設定：
dual2s函數庫下載、Arduino IDE編譯環境使用方式，請參考此文【ArduinoIDE-ESP32編輯環境】。
範例：
dual2s函數庫的使用範例，請參照【DUAL22-2s開發板】相關應用範例。dual2s函數庫亦可使用於DUAL22 / e32DUAL，以及其他esp32環境中，使用時注意GPIO腳位定義。
程式說明
dual2s.h程式碼
#ifndef DUAL2S_H
#define DUAL2S_H
#include <Arduino.h>
//Buzzer Pitch define
struct Pitch{
uint16_t Do_3=131, Re_3=147, Mi_3=165, Fa_3=175, Sol_3=196, La_3=220, Si_3=247;
uint16_t Do_4=262, Re_4=294, Mi_4=330, Fa_4=349, Sol_4=392, La_4=440, Si_4=494;
uint16_t Do_5=523, Re_5=587, Mi_5=659, Fa_5=698, Sol_5=784, La_5=880, Si_5=988;
};
/*** MOTOR ***/
class Motor{
private:
uint16_t _m_frequency = 1000;
uint8_t _m_resolution = 10;
uint8_t _pin_a;
uint8_t _pin_b;
uint8_t _channel_a;
uint8_t _channel_b;
public:
typedef enum{
STOP,
CW,
CCW
} Motor_Action;
Motor(uint8_t pin_a, uint8_t pin_b, uint8_t channel_a, uint8_t channel_b);
void act(uint8_t dir, uint16_t speed);
void stop();
};
/*** BUZZER ***/
class Buzzer{
private:
byte _pin;
byte _channel; //esp32 pwm channel 0 - 15
public:
Buzzer(byte pin, byte channel);
void noTone();
void tone(uint16_t frequency, uint16_t duration, uint8_t volume);
void alarm();
};
/*** UltraSonic ***/
class HCSR04{
private:
uint8_t _pin_echo;
uint8_t _pin_trig;
public:
typedef enum{
USC_FRONT,
USC_LEFT,
USC_RIGHT
} USC_DIR;
HCSR04(uint8_t pin_echo, uint8_t pin_trig);
bool ObjSeeking(uint8_t thresh);
float ObjDistance();
unsigned long probing();
};
/*** IR3CH ***/
class IR3CH{
private:
uint8_t _pin_L;
uint8_t _pin_M;
uint8_t _pin_R;
public:
IR3CH(uint8_t pin_L, uint8_t pin_M, uint8_t pin_R);
byte ReadTCRT(uint8_t TH, bool DEBUG);
};
/*** POWER ***/
class Power{
private:
uint8_t _pin;
public:
Power(uint8_t pin);
float voltage();
};
/*** GoSUMO ***/
class GoSUMO{
private:
uint16_t _m_frequency = 1000;
uint8_t _m_resolution = 10;
uint8_t _pin_m1A = 14; uint8_t _pin_m1B = 32;
uint8_t _pin_m2A = 12; uint8_t _pin_m2B = 33;
uint8_t _pin_m3A = 25; uint8_t _pin_m3B = 26;
uint8_t _pin_m4A = 23; uint8_t _pin_m4B = 22;
uint8_t _channel_1a = 8; uint8_t _channel_1b = 9;
uint8_t _channel_2a = 10; uint8_t _channel_2b = 11;
uint8_t _channel_3a = 12; uint8_t _channel_3b = 13;
uint8_t _channel_4a = 14; uint8_t _channel_4b = 15;
public:
typedef enum{
FORWARD,
BACKWARD,
GO_LEFT,
GO_RIGHT
} Motion;
GoSUMO();
void act(uint8_t motion, uint16_t speed);
void stop();
};
#endifdual2s.cpp程式碼
#include <dual2s.h>
/*** GoSUMO ***/
GoSUMO::GoSUMO(){
pinMode(_pin_m1A, OUTPUT); pinMode(_pin_m1B, OUTPUT);
pinMode(_pin_m2A, OUTPUT); pinMode(_pin_m2B, OUTPUT);
pinMode(_pin_m3A, OUTPUT); pinMode(_pin_m3B, OUTPUT);
pinMode(_pin_m4A, OUTPUT); pinMode(_pin_m4B, OUTPUT);
ledcSetup(_channel_1a, _m_frequency, _m_resolution); ledcSetup(_channel_1b, _m_frequency, _m_resolution);
ledcAttachPin(_pin_m1A, _channel_1a); ledcAttachPin(_pin_m1B, _channel_1b);
ledcSetup(_channel_2a, _m_frequency, _m_resolution); ledcSetup(_channel_2b, _m_frequency, _m_resolution);
ledcAttachPin(_pin_m2A, _channel_2a); ledcAttachPin(_pin_m2B, _channel_2b);
ledcSetup(_channel_3a, _m_frequency, _m_resolution); ledcSetup(_channel_3b, _m_frequency, _m_resolution);
ledcAttachPin(_pin_m3A, _channel_3a); ledcAttachPin(_pin_m3B, _channel_3b);
ledcSetup(_channel_4a, _m_frequency, _m_resolution); ledcSetup(_channel_4b, _m_frequency, _m_resolution);
ledcAttachPin(_pin_m4A, _channel_4a); ledcAttachPin(_pin_m4B, _channel_4b);
}
void GoSUMO::act(uint8_t motion, uint16_t speed){
if(motion == FORWARD){
ledcWrite(_channel_1a, 0); ledcWrite(_channel_1b, speed); //Moto-1
ledcWrite(_channel_3a, 0); ledcWrite(_channel_3b, speed); //Moto-3
ledcWrite(_channel_2a, speed); ledcWrite(_channel_2b, 0); //Moto-2
ledcWrite(_channel_4a, speed); ledcWrite(_channel_4b, 0); //Moto-4
}
else if(motion == BACKWARD){
ledcWrite(_channel_1a, speed); ledcWrite(_channel_1b, 0); //Moto-1
ledcWrite(_channel_3a, speed); ledcWrite(_channel_3b, 0); //Moto-3
ledcWrite(_channel_2a, 0); ledcWrite(_channel_2b, speed); //Moto-2
ledcWrite(_channel_4a, 0); ledcWrite(_channel_4b, speed); //Moto-4
}
else if(motion == GO_LEFT){
ledcWrite(_channel_1a, speed); ledcWrite(_channel_1b, 0); //Moto-1
ledcWrite(_channel_3a, speed); ledcWrite(_channel_3b, 0); //Moto-3
ledcWrite(_channel_2a, speed); ledcWrite(_channel_2b, 0); //Moto-2
ledcWrite(_channel_4a, speed); ledcWrite(_channel_4b, 0); //Moto-4
}
else if(motion == GO_RIGHT){
ledcWrite(_channel_1a, 0); ledcWrite(_channel_1b, speed); //Moto-1
ledcWrite(_channel_3a, 0); ledcWrite(_channel_3b, speed); //Moto-3
ledcWrite(_channel_2a, 0); ledcWrite(_channel_2b, speed); //Moto-2
ledcWrite(_channel_4a, 0); ledcWrite(_channel_4b, speed); //Moto-4
}
}
void GoSUMO::stop(){
ledcWrite(_channel_1a, 0); ledcWrite(_channel_1b, 0); //Moto-1
ledcWrite(_channel_3a, 0); ledcWrite(_channel_3b, 0); //Moto-3
ledcWrite(_channel_2a, 0); ledcWrite(_channel_2b, 0); //Moto-2
ledcWrite(_channel_4a, 0); ledcWrite(_channel_4b, 0); //Moto-4
}
/*** MOTOR ***/
Motor::Motor(uint8_t pin_a, uint8_t pin_b, uint8_t channel_a, uint8_t channel_b){
_pin_a = pin_a;
_pin_b = pin_b;
_channel_a = channel_a;
_channel_b = channel_b;
//The _channel was used.
if (ledcRead(_channel_a)) { log_e("channel %d is already in use", ledcRead(_channel_a)); return; }
if (ledcRead(_channel_b)) { log_e("channel %d is already in use", ledcRead(_channel_b)); return; }
pinMode(_pin_a, OUTPUT);
pinMode(_pin_b, OUTPUT);
ledcSetup(_channel_a, _m_frequency, _m_resolution);
ledcSetup(_channel_b, _m_frequency, _m_resolution);
ledcAttachPin(_pin_a, _channel_a);
ledcAttachPin(_pin_b, _channel_b);
}
void Motor::act(uint8_t dir, uint16_t speed){
if(dir == CW){ ledcWrite(_channel_a, speed); ledcWrite(_channel_b, 0); }
else if(dir == CCW){ ledcWrite(_channel_a, 0); ledcWrite(_channel_b, speed); }
}
void Motor::stop(){ ledcWrite(_channel_a, 0); ledcWrite(_channel_b, 0); }
/*** ULTRASONIC ***/
HCSR04::HCSR04(uint8_t pin_echo, uint8_t pin_trig){
_pin_echo = pin_echo;
_pin_trig = pin_trig;
pinMode(_pin_trig, OUTPUT);
pinMode(_pin_echo, INPUT);
}
unsigned long HCSR04::probing(){
digitalWrite(_pin_trig, HIGH);
delayMicroseconds(5); //維持trig腳位在高電位5微秒
digitalWrite(_pin_trig, LOW);
return pulseIn(_pin_echo, HIGH);
}
float HCSR04::ObjDistance(){
float d = 0.0;
d = probing()/58.0; //計算物件的距離
return d;
}
bool HCSR04::ObjSeeking(uint8_t thresh){
//int fightThresh = thresh*58; //單位為公分
//long distance = probing(); //讀取障礙物的距離
if(probing() < (thresh*58)) { return true; } //物體進入範圍
else { return false; } //物體不在範圍之內
}
/*** IR3CH ***/
IR3CH::IR3CH(uint8_t pin_L, uint8_t pin_M, uint8_t pin_R){
_pin_L = pin_L;
_pin_M = pin_M;
_pin_R = pin_R;
pinMode(_pin_L, INPUT);
pinMode(_pin_M, INPUT);
pinMode(_pin_R, INPUT);
}
byte IR3CH::ReadTCRT(uint8_t TH, bool DEBUG){
byte _bTrace = 0;
if(analogRead(_pin_R) > TH) { _bTrace = _bTrace | B001; }
else { _bTrace = _bTrace & B110; }
if(analogRead(_pin_M) > TH) { _bTrace = _bTrace | B010; }
else { _bTrace = _bTrace & B101; }
if(analogRead(_pin_L) > TH) { _bTrace = _bTrace | B100; }
else { _bTrace = _bTrace & B011; }
/* 讀取類比數值，並將3CH結果輸出至串列視窗 */
if (DEBUG){
Serial.print(analogRead(_pin_L));
Serial.print("(LEFT) / ");
Serial.print(analogRead(_pin_M));
Serial.print("(Middle) / ");
Serial.print(analogRead(_pin_R));
Serial.print("(RIGHT)");
Serial.println(_bTrace);
Serial.println("----");
delay(1000);
}
/*-------------------------------------------------------------*/
return _bTrace;
}
/*** BUZZER ***/
Buzzer::Buzzer(byte pin = 15, byte channel = 15){
_pin = pin;
_channel = channel;
pinMode(_pin, OUTPUT);
}
void Buzzer::alarm(){
tone(800, 200, 30);
}
void Buzzer::noTone(){
ledcDetachPin(_pin);
ledcWrite(_channel, 0);
}
void Buzzer::tone(uint16_t frequency, uint16_t duration, uint8_t volume){
ledcSetup(_channel, frequency, 8);
ledcAttachPin(_pin, _channel);
ledcWrite(_channel, volume);
if (duration) {
delay(duration);
noTone();
}
}
/*** POWER ***/
Power::Power(uint8_t pin){
_pin = pin;
pinMode(_pin, INPUT);
analogSetAttenuation(ADC_11db); //衰減值3.6v
analogSetWidth(12); //解析度10bits
}
float Power::voltage(){
//ADC解析度為12bits (4096階)
//ADC衰減值為3.6V
//分壓比為~0.25 (目標端電阻100 / 量測端電阻33)
float _fVal = (analogRead(_pin)*0.0009)/0.25;
return _fVal;
}