初始化提交

arduino-cli/libraries/QH_IOT_PRO/QH_IOT_PRO.cpp

@@ -0,0 +1,103 @@
+#include <QH_IOT_PRO.h>
+
+QH_IOT_PRO::QH_IOT_PRO():Adafruit_MCP23017()
+{
+
+
+}
+void QH_IOT_PRO::init()
+{
+	begin(0x00);
+	//声明电机引脚为output
+	Adafruit_MCP23017::pinMode(M1DIR1, OUTPUT);
+	Adafruit_MCP23017::pinMode(M1DIR2, OUTPUT);
+	Adafruit_MCP23017::pinMode(M2DIR1, OUTPUT);
+	Adafruit_MCP23017::pinMode(M2DIR2, OUTPUT);
+	Adafruit_MCP23017::pinMode(M3DIR1, OUTPUT);
+	Adafruit_MCP23017::pinMode(M3DIR2, OUTPUT);
+	Adafruit_MCP23017::pinMode(M4DIR1, OUTPUT);
+	Adafruit_MCP23017::pinMode(M4DIR2, OUTPUT);
+	//PWM引脚初始化
+	::pinMode(M1PWM, OUTPUT);
+	::pinMode(M2PWM, OUTPUT);
+	::pinMode(M3PWM, OUTPUT);
+	::pinMode(M4PWM, OUTPUT);
+	//编码器引脚初始化
+
+}
+
+void QH_IOT_PRO::motorRun(uint8_t No,int speed)
+{
+	bool dir1 ,dir2;
+	int _speed=abs(speed);
+
+	if(speed==0){
+		dir1 = false;
+		dir2 = false;
+	}else if(speed<0){
+		dir1 = true;
+		dir2 = false;
+	}else{
+		dir1 = false;
+		dir2 = true;
+	}
+		
+	switch(No){
+		case 1:
+			Adafruit_MCP23017::digitalWrite(M1DIR1, dir1);
+			Adafruit_MCP23017::digitalWrite(M1DIR2, dir2);
+			::analogWrite(M1PWM, _speed);
+			break;
+		case 2:
+			Adafruit_MCP23017::digitalWrite(M2DIR1, dir1);
+			Adafruit_MCP23017::digitalWrite(M2DIR2, dir2);
+			::analogWrite(M2PWM, _speed);
+			break;
+		case 3:
+			Adafruit_MCP23017::digitalWrite(M3DIR1, dir1);
+			Adafruit_MCP23017::digitalWrite(M3DIR2, dir2);
+			::analogWrite(M3PWM, _speed);
+			break;
+		case 4:
+			Adafruit_MCP23017::digitalWrite(M4DIR1, dir1);
+			Adafruit_MCP23017::digitalWrite(M4DIR2, dir2);
+			::analogWrite(M4PWM, _speed);
+			break;
+	}
+	
+}
+
+void QH_IOT_PRO::motorBrake(uint8_t No)
+{		
+	switch(No){
+		case 1:
+			Adafruit_MCP23017::digitalWrite(M1DIR1, true);
+			Adafruit_MCP23017::digitalWrite(M1DIR2, true);
+			::analogWrite(M1PWM, 0);
+			break;
+		case 2:
+			Adafruit_MCP23017::digitalWrite(M2DIR1, true);
+			Adafruit_MCP23017::digitalWrite(M2DIR2, true);
+			::analogWrite(M2PWM, 0);
+			break;
+		case 3:
+			Adafruit_MCP23017::digitalWrite(M3DIR1, true);
+			Adafruit_MCP23017::digitalWrite(M3DIR2, true);
+			::analogWrite(M3PWM, 0);
+			break;
+		case 4:
+			Adafruit_MCP23017::digitalWrite(M4DIR1, true);
+			Adafruit_MCP23017::digitalWrite(M4DIR2, true);
+			::analogWrite(M4PWM, 0);
+			break;
+	}
+	
+}
+
+bool QH_IOT_PRO::getLineSensorState(uint8_t data)
+{
+	uint8_t val=0;
+	for(int8_t i = 4;i>=0;i--)
+		val = (val<<1)|(Adafruit_MCP23017::digitalRead(i));
+	return data==val;
+}

arduino-cli/libraries/QH_IOT_PRO/QH_IOT_PRO.h

@@ -0,0 +1,36 @@
+#ifndef QH_IOT_PRO_h
+#define QH_IOT_PRO_h
+
+//PWM引脚为ESP32引脚,DIR引脚为MCP23017引脚
+#define M1PWM 13
+#define M1DIR1 12
+#define M1DIR2 13
+
+#define M2PWM 33
+#define M2DIR1 14
+#define M2DIR2 15
+
+#define M3PWM 32
+#define M3DIR1 8
+#define M3DIR2 9
+
+#define M4PWM 15
+#define M4DIR1 10
+#define M4DIR2 11
+
+
+#include <analogWrite.h>
+#include <Wire.h>
+#include "Adafruit_MCP23017.h"
+
+class QH_IOT_PRO : public Adafruit_MCP23017
+{
+	public:
+		QH_IOT_PRO();
+		void motorRun(uint8_t No,int speed);
+		void motorBrake(uint8_t No);
+		void init();
+		bool getLineSensorState(uint8_t data);
+};
+
+#endif