GMU:Functions and Classes (Arduino): Difference between revisions

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// Defining a class for motor control


// Defining a class for motor control
class MotoMamaMotor {
class MotoMamaMotor {


private: // the following definitions are only of „internal use“ for the class itself
int forwardPin; //Every MotoMamaMotor type Object has its own forwardPin
int reversePin;
int throttlePin;


public: // the following qualities and methods are visible from the outside.
  private: // the following definitions are only of „internal use“ for the class itself
//  This setup-Function has to be called before using the motor control
    int forwardPin; //Every MotoMamaMotor type Object has its own forwardPin
void setup(int newForwardPin, int newReversePin, int newThrottlePin){
    int reversePin;
// we remember the pins for future use         
    int throttlePin;
forwardPin=newForwardPin;
reversePin=newReversePin;
throttlePin=newThrottlePin;
// and at the same time we initialize the outputs !
digitalWrite(throttlePin,LOW); //  so that the motors don’t spin directly from the beginning ..
pinMode(forwardPin,OUTPUT);
pinMode(reversePin,OUTPUT);
pinMode(throttlePin,OUTPUT);
}


// this Function allows to control the motor speed  
  public: // the following qualities and methods are visible from the outside.
void setThrottle (int newThrottle){
    //  This setup-Function has to be called before using the motor control
if (newThrottle>0){ // should it spin forwards or backwards?
    void setup(int newForwardPin, int newReversePin, int newThrottlePin) {
// spin forwards
      // we remember the pins for future use
digitalWrite(reversePin,LOW);
      forwardPin = newForwardPin;
digitalWrite(forwardPin,HIGH);
      reversePin = newReversePin;
}else{
      throttlePin = newThrottlePin;
// spin backwards
      // and at the same time we initialize the outputs !
digitalWrite(forwardPin,LOW);
      digitalWrite(throttlePin, LOW); //  so that the motors don’t spin directly from the beginning ..
digitalWrite(reversePin,HIGH);
      pinMode(forwardPin, OUTPUT);
}
      pinMode(reversePin, OUTPUT);
// adjust the speed:
      pinMode(throttlePin, OUTPUT);
analogWrite(throttlePin, newThrottle);
    }
}
 
    // this Function allows to control the motor speed
    void setThrottle (int newThrottle) {
      if (newThrottle > 0) { // should it spin forwards or backwards?
        // spin forwards
        digitalWrite(reversePin, LOW);
        digitalWrite(forwardPin, HIGH);
      } else {
        // spin backwards
        digitalWrite(forwardPin, LOW);
        digitalWrite(reversePin, HIGH);
      }
      // adjust the speed:
      analogWrite(throttlePin, newThrottle);
    }
};
};


// create two separate MotoMamaMotor type Objects (leftMotor, rightMotor). They can be used as normal variables.  
// create two separate MotoMamaMotor type Objects (leftMotor, rightMotor). They can be used as normal variables.
MotoMamaMotor leftMotor;
MotoMamaMotor leftMotor;
MotoMamaMotor rightMotor;
MotoMamaMotor rightMotor;


void setup(){ // this is our „main“ setup Function
void setup() { // this is our „main“ setup Function
leftMotor.setup(3,4,5); // assign the pin numbers for each motor in the setup Function: setup(int newForwardPin, int newReversePin, int newThrottlePin)
  leftMotor.setup(3, 4, 5); // assign the pin numbers for each motor in the setup Function: setup(int newForwardPin, int newReversePin, int newThrottlePin)
rightMotor.setup(6,7,8);
  rightMotor.setup(6, 7, 8);
};
};


void loop(){ // this is our „main“ loop Function where concrete actions are executed. For example:
void loop() { // this is our „main“ loop Function where concrete actions are executed. For example:
// Start backwards, slow down and accelerate forwards  
  // Start backwards, slow down and accelerate forwards
for (int i =-255, i<=255;i++){
  for (int i = -255, i <= 255; i++) {
leftMotor.setThrottle(i);
    leftMotor.setThrottle(i);
rightMotor.setThrottle(i);
    rightMotor.setThrottle(i);
  };
  // Start forwards, slow down and accelerate backwards
  for (int i = 255, i >= -255; i--) {
    leftMotor.setThrottle(i);
    rightMotor.setThrottle(i);
  };
};
};
// Start forwards, slow down and accelerate backwards
for (int i =255, i>=-255;i--){
leftMotor.setThrottle(i);
rightMotor.setThrottle(i);
};
};
''


==Organizing classes in separate files==
==Organizing classes in separate files==
Retrieved from "https://www.uni-weimar.de/kunst-und-gestaltung/wiki/GMU:Functions_and_Classes_(Arduino)"