48 lines
1.1 KiB
C++
48 lines
1.1 KiB
C++
#include <Arduino.h>
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#include "motor_control.h"
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#define NUM_MOTORS 4
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MotorControl motors[NUM_MOTORS] = {
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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) % NUM_MOTORS;
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for (unsigned long i = start_val; i < start_val + NUM_MOTORS; i++) {
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motors[i % NUM_MOTORS].Tick(cur_micros);
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}
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}
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int main() {
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// Arduino library initialization
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// Needed for some functions to work (like micros)
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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 a C chord
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motors[0].TickAtPitch(60); // C4
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motors[1].TickAtPitch(64); // E4
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motors[2].TickAtPitch(67); // G4
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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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}
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return 0;
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} |