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Update library
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@C2Coder
C2Coder committed Jul 8, 2024
1 parent 152e2c9 commit ea98f10
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19 changes: 15 additions & 4 deletions docs/robutekLibrary/Robutek-library/src/index.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,20 @@ import * as Robot from "./libs/robot.js"

Robot.init()

const strip = new Robot.Strip();
strip.clear();
strip.set(0, { r: 255, g: 0, b: 0 });
strip.show();
Robot.strip.clear();
Robot.strip.set(0, { r: 255, g: 0, b: 0 });
Robot.strip.show();

/*
async function main() {
await Robot.RightMot.move({time:Infinity})
console.log("move");
}
main();
setInterval(() => {
console.log(Robot.RightMot.getPosition());
}, 100);
*/

console.log("Robotický tábor 2024")
42 changes: 0 additions & 42 deletions docs/robutekLibrary/Robutek-library/src/libs/motors.ts
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102 changes: 43 additions & 59 deletions docs/robutekLibrary/Robutek-library/src/libs/robot.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -6,32 +6,38 @@ import { Servo } from "./servo.js";

import { SmartLed, LED_WS2812, Rgb } from "smartled";

/*
import * as motors from "motors"
import * as motors from "motor"

const leftMotor: motors.MotorConf = { neg: 1, pos: 2, encA: 3, encB: 4, encTicks: 200 }
const rightMotor: motors.MotorConf = { neg: 5, pos: 6, encA: 7, encB: 8, encTicks: 200, reverse: true }
const leftMotorPins: motors.MotorPins = { motA: 11, motB: 12, encA: 39, encB: 40 }
const rightMotorPins: motors.MotorPins = { motA: 45, motB: 13, encA: 41, encB: 42 }

const wheels = new motors.Wheels({ left: leftMotor, right: rightMotor, diameter: 20, width: 100 })
*/
const leftMotorLedc: motors.LedcConfig = { timer: 1, channelA: 0, channelB: 1 }
const rightMotorLedc: motors.LedcConfig = { timer: 1, channelA: 2, channelB: 3 }

export const LeftMot = new motors.Motor({pins:leftMotorPins, ledc:leftMotorLedc, encTicks:400, diameter:10});
export const RightMot = new motors.Motor({pins:rightMotorPins, ledc:rightMotorLedc, encTicks:400, diameter:10});

import * as motors from "./simplemotors.js"
//const wheels = new motors.Wheels({ left: leftMotor, right: rightMotor, diameter: 20, width: 100 })

const LMOT = new motors.Motor(11, 12, 1, 2, 3);
const RMOT = new motors.Motor(45, 13, 1, 4, 5);
/*
import * as simplemotors from "./simplemotors.js"
const LMOT = new simplemotors.Motor(11, 12, 1, 2, 3);
const RMOT = new simplemotors.Motor(45, 13, 1, 4, 5);
*/

export function init() {
adc.configure(Sensors.S_1, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
adc.configure(Sensors.S_2, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
adc.configure(Sensors.S_3, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
adc.configure(Sensors.S_4, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
adc.configure(LineSensors.S_1, adc.Attenuation.Db0);
adc.configure(LineSensors.S_2, adc.Attenuation.Db0);
adc.configure(LineSensors.S_3, adc.Attenuation.Db0);
adc.configure(LineSensors.S_4, adc.Attenuation.Db0);

gpio.pinMode(Sensors.S_PWR, gpio.PinMode.OUTPUT); // nastavíme mód pinu podsvícení na output
gpio.pinMode(Sensors.S_SW, gpio.PinMode.OUTPUT);
gpio.pinMode(LineSensors.S_PWR, gpio.PinMode.OUTPUT);
gpio.pinMode(LineSensors.S_SW, gpio.PinMode.OUTPUT);

gpio.write(Sensors.S_PWR, 1); // zapneme podsvícení robůtka
gpio.write(LineSensors.S_PWR, 1);
}


Expand All @@ -40,6 +46,7 @@ type MoveDuration = {
distance?: number; // distance in cm
speed?: number; // speed in mm/s?
}
/*
export async function move(curve: number, duration?: MoveDuration) {
// curve = -1 to 1
Expand Down Expand Up @@ -79,29 +86,30 @@ type RotateDuration = {
speed?: number; // speed in mm/s?
}
export function rotate(duration: RotateDuration) {

if (duration.angle < 0) {
LMOT.write(duration.speed);
RMOT.write(-duration.speed);
} else {
LMOT.write(-duration.speed);
RMOT.write(duration.speed);
}

//wheels.rotate(duration)
}
export function stop() {
LMOT.write(0);
RMOT.write(0);

//wheels.stop()
}
*/


export type SensorType = 'W_FR' | 'W_FL' | 'W_BL' | 'W_BR' | 'L_FR' | 'L_FL' | 'L_BL' | 'L_BR';
export class Sensors {

export class LineSensors {
public static readonly S_1: number = 4;
public static readonly S_2: number = 5;
public static readonly S_3: number = 6;
Expand All @@ -117,44 +125,44 @@ export class Sensors {
return;
}
this.sw = to_value;
gpio.write(Sensors.S_SW, to_value);
gpio.write(LineSensors.S_SW, to_value);
await sleep(5);
}

public async read(sensor: SensorType): Promise<number> {
switch (sensor) {
case 'W_FR':
this.switch_sensors(0);
return adc.read(Sensors.S_1);
return adc.read(LineSensors.S_1);

case 'W_FL':
this.switch_sensors(0);
return adc.read(Sensors.S_2);
return adc.read(LineSensors.S_2);

case 'W_BL':
this.switch_sensors(0);
return adc.read(Sensors.S_3);
return adc.read(LineSensors.S_3);

case 'W_BR':
this.switch_sensors(0);
return adc.read(Sensors.S_4);
return adc.read(LineSensors.S_4);


case 'L_FR':
this.switch_sensors(1);
return adc.read(Sensors.S_1);
return adc.read(LineSensors.S_1);

case 'L_FL':
this.switch_sensors(1);
return adc.read(Sensors.S_2);
return adc.read(LineSensors.S_2);

case 'L_BL':
this.switch_sensors(1);
return adc.read(Sensors.S_3);
return adc.read(LineSensors.S_3);

case 'L_BR':
this.switch_sensors(1);
return adc.read(Sensors.S_4);
return adc.read(LineSensors.S_4);

default:
return 0;
Expand Down Expand Up @@ -184,39 +192,15 @@ export class Pen {
}
}

export class Strip {
private strip: SmartLed;

constructor() {
this.strip = new SmartLed(48, 9, LED_WS2812);
}

public set(index: number, color: Rgb) {
this.strip.set(index, color);
}

public fill(color: Rgb) {
for (let i = 0; i < 9; i++) {
this.strip.set(i, color);
}
}

public show() {
this.strip.show();
}

public clear() {
this.strip.clear();
}
}
export const strip = new SmartLed(48, 9, LED_WS2812);

export class Pins {
public static readonly Status_LED: number = 46;

public static readonly M1_1 = 11;
public static readonly M1_2 = 12;
public static readonly M2_1 = 45;
public static readonly M2_2 = 13;
public static readonly Motor1_A = 11;
public static readonly Motor1_B = 12;
public static readonly Motor2_A = 45;
public static readonly Motor2_B = 13;
public static readonly ENC1_1 = 39;
public static readonly ENC1_2 = 40;
public static readonly ENC2_1 = 41;
Expand Down

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