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#include <Arduino.h>
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#include "Motor.h"
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/*
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* LEDC Chan to Group/Channel/Timer Mapping
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** ledc: 0 => Group: 0, Channel: 0, Timer: 0
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** ledc: 1 => Group: 0, Channel: 1, Timer: 0
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** ledc: 2 => Group: 0, Channel: 2, Timer: 1
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** ledc: 3 => Group: 0, Channel: 3, Timer: 1
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** ledc: 4 => Group: 0, Channel: 4, Timer: 2
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** ledc: 5 => Group: 0, Channel: 5, Timer: 2
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** ledc: 6 => Group: 0, Channel: 6, Timer: 3
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** ledc: 7 => Group: 0, Channel: 7, Timer: 3
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** ledc: 8 => Group: 1, Channel: 0, Timer: 0
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** ledc: 9 => Group: 1, Channel: 1, Timer: 0
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** ledc: 10 => Group: 1, Channel: 2, Timer: 1
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** ledc: 11 => Group: 1, Channel: 3, Timer: 1
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** ledc: 12 => Group: 1, Channel: 4, Timer: 2
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** ledc: 13 => Group: 1, Channel: 5, Timer: 2
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** ledc: 14 => Group: 1, Channel: 6, Timer: 3
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** ledc: 15 => Group: 1, Channel: 7, Timer: 3
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*/
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// 绑定的IO
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const int Motor_PWM_PinA = 5;
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const int Motor_PWM_PinB = 4;
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const int Motor_INA1 = 19;
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const int Motor_INA2 = 18;
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const int Motor_INB1 = 16;
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const int Motor_INB2 = 17;
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// PWM的通道，共16个(0-15)，分为高低速两组，
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// 高速通道(0-7): 80MHz时钟，低速通道(8-15): 1MHz时钟
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// 0-15都可以设置，只要不重复即可，参考上面的列表
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// 如果有定时器的使用，千万要避开!!!
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const int Motor_channel_PWMA = 2;
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const int Motor_channel_PWMB = 3;
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// PWM频率，直接设置即可
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int Motor_freq_PWM = 1000;
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// PWM分辨率，取值为 0-20 之间，这里填写为10，那么后面的ledcWrite
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// 这个里面填写的pwm值就在 0 - 2的10次方 之间 也就是 0-1024
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int Motor_resolution_PWM = 10;
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void Motor_Init(void)
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{
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pinMode(Motor_INA1, OUTPUT);
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pinMode(Motor_INA2, OUTPUT);
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pinMode(Motor_INB1, OUTPUT);
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pinMode(Motor_INB2, OUTPUT);
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ledcSetup(Motor_channel_PWMA, Motor_freq_PWM, Motor_resolution_PWM); // 设置通道
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ledcSetup(Motor_channel_PWMB, Motor_freq_PWM, Motor_resolution_PWM); // 设置通道
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ledcAttachPin(Motor_PWM_PinA, Motor_channel_PWMA); //将 LEDC 通道绑定到指定 IO 口上以实现输出
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ledcAttachPin(Motor_PWM_PinB, Motor_channel_PWMB);
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}
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void PWM_SetDuty(uint16_t DutyA, uint16_t DutyB)
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{
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ledcWrite(Motor_channel_PWMA, DutyA);
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ledcWrite(Motor_channel_PWMB, DutyB);
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}
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// 电机的控制程序，分别是左右两个轮子的占空比（0-1024）
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void Motor_Control(int Cnt_L, int Cnt_R)
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{
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if (Cnt_L >= 0) // 左轮正向转
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{
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digitalWrite(Motor_INA1, HIGH);
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digitalWrite(Motor_INA2, LOW);
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ledcWrite(Motor_channel_PWMA, Cnt_L);
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}
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else // 左轮反向转
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{
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digitalWrite(Motor_INA1, LOW);
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digitalWrite(Motor_INA2, HIGH);
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ledcWrite(Motor_channel_PWMA, -Cnt_L);
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}
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if (Cnt_R >= 0) // 右轮正向转
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{
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digitalWrite(Motor_INB1, HIGH);
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digitalWrite(Motor_INB2, LOW);
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ledcWrite(Motor_channel_PWMB, Cnt_R);
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}
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else // 右轮反向转
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{
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digitalWrite(Motor_INB1, LOW);
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digitalWrite(Motor_INB2, HIGH);
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ledcWrite(Motor_channel_PWMB, -Cnt_R);
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}
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}
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