53 lines
1.2 KiB
C++
53 lines
1.2 KiB
C++
#include <Arduino.h>
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#include "motor_control.h"
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MotorControl motors[4] = {
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MotorControl(5, 2),
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MotorControl(6, 3),
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MotorControl(7, 4),
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MotorControl(13, 12)
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};
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void handle_tick(unsigned long cur_micros) {
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// Randomize the order we process motor ticks every time
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// This helps reduce the minor frequency discrepancies between each motor
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unsigned long start_val = (cur_micros / 10) % 4;
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for (unsigned long i = start_val; i < start_val + 4; i++) {
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motors[i % 4].Tick(cur_micros);
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}
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}
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int main() {
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init();
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// Enable the motor drivers
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pinMode(8, OUTPUT);
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digitalWrite(8, LOW);
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// Initialize the controllers
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for (int i = 0; i < 4; i++) {
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motors[i].Init();
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}
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// Test: play A4 (440 Hz) on each successive motor every second
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int cur_motor = -1;
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while (true) {
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unsigned long cur_micros = micros();
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handle_tick(cur_micros);
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int new_motor = (cur_micros / 1000 / 1000) % 4;
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if (new_motor != cur_motor) {
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motors[new_motor].TickOn(2272);
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if (cur_motor != -1) {
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motors[cur_motor].TickOff();
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}
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cur_motor = new_motor;
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}
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}
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return 0;
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} |