Merge pull request #11 from UlmerMan/dev

Dev

README.md

@@ -1,33 +1,18 @@
 # About
 
-This is a library for Elegoo Smart Car Robot Kit.
-
 ## Getting Started
 
 ### Commands
 
-|                         **Command**                          | **Explenation**                                              |
-| :----------------------------------------------------------: | ------------------------------------------------------------ |
-|          Constructor<br />e. g. elegoo car(version)          | You have to put the version in quotes in the brackets. You can see the Supported Versions in the table below. |
-| forward() <br />backward()<br>  left()<br>  right()<br>  stop() | These arguments explain themselves. Into the brackets you can put a number between 1 and 256 for the speed. The default speed is 255. |
-|  forwardT() <br>   backwardT() <br>   leftT() <br>rightT()   | The arguments function just like the others but you have to put the time and the speed into the brackets. <br> With a syntax like this: <br> ``` car.forwardT(SPEED, TIME); ``` <br>You can choose a number between 1 and 255. |
-|                        getDistance()                         | This is a function to get the distance from the Ultrasonic sensor. It returns it as an Integer. |
-
-## Supported Versions
-
-| Version | Comment                                               |
-| ------- | ----------------------------------------------------- |
-| v1      | e. g. elegoo car ("v1")                               |
-| v2      | e. g. elegoo car ("v2")                               |
-| v3      | e. g. elegoo car ("v3")                               |
-| v4.0    | e. g. elegoo car ("v4.0")  **!!!work in progress!!!** |
-| v4.1    | e. g. elegoo car ("v4.1")  **!!!work in progress!!!** |
-| v4.2    | e. g. elegoo car ("v4.2")  **!!!work in progress!!!** |
-
+| **Command** | **Explenation** |
+|:---:|---|
+| car.init() | This argument is needed in every code. It is to initialize the the library.  In the brackets you can put the version of your robot. The default version is 3. |
+| car.forward()<br>  car.backward()<br>  car.left()<br>  car.right()<br>  car.stop() | These arguments explain themself. Into the brackets you can put a number between 1 and 256 for the speed. The default speed is 255. |
+| car.forwardT() <br>   car.backwardT() <br>   car.leftT() <br>   car.rightT() | The arguments function just like the others but you have to put the time and the speed into the brackets. <br> With a syntax like this: <br> ``` car.forwardT(SPEED, TIME); ``` <br>You can choose a number between 1 and 255.  |
+| car.getDistance() | This is a function to get the distance from the Ultrasonic sensor. It returns it as an Integer. |
 
 
 <!-- CONTRIBUTING -->
-
 ## Contributing
 
 Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are **greatly appreciated**.

examples/FirstSteps/FirstSteps.ino

@@ -1,8 +1,11 @@
-#include <car.h>
+#include <elegoo.h>
+
+#define version 3
+
+elegoo car(version);
 
 void setup(){
   Serial.begin(9600); //Begin a serial connection
-  car.init();         //Initialze car. Please put the Version of your robot into the brackets
 }
 
 

examples/ObstacleAvoidance/ObstacleAvoidance.ino

@@ -1,7 +1,11 @@
 //www.elegoo.com
 
-#include <car.h>
+#include <elegoo.h>
 #include <Servo.h>  //servo library
+
+#define version 3
+
+elegoo car(version);
 Servo myservo;      // create servo object to control servo
 
 int Echo = A4;

src/Elegoo.cpp

@@ -40,55 +40,97 @@
 
 // Constructor
 
-elegoo::elegoo(int vers)
+elegoo::elegoo(String version)
 {
-  if (vers == 1)
+  if (version == "v1")
   {
-    vers = version;
+    vers = 1;
     in1 = 9;
     in2 = 8;
     in3 = 7;
     in4 = 6;
     ENA = 10;
     ENB = 5;
+    Setup();
   }
-  if (vers == 2)
+  if (version == "v2")
   {
-    vers = version;
+    vers = 1;
     in1 = 6;
     in2 = 7;
     in3 = 8;
     in4 = 9;
     ENA = 5;
     ENB = 11;
+    Setup();
   }
-  if (vers == 3)
+  if (version == "v3")
   {
-    vers = version;
+    vers = 1;
     in1 = 7;
     in2 = 8;
     in3 = 9;
     in4 = 11;
     ENA = 5;
     ENB = 6;
+    Setup();
   }
-  pinMode(in1, OUTPUT);
-  pinMode(in2, OUTPUT);
-  pinMode(in3, OUTPUT);
-  pinMode(in4, OUTPUT);
-  pinMode(ENA, OUTPUT);
-  pinMode(ENB, OUTPUT);
-  pinMode(trig, OUTPUT);
-  pinMode(echo, INPUT);
-  pinMode(LED, OUTPUT);
-  pinMode(ENB, OUTPUT);
-  pinMode(LineTeacking_Pin_Right, INPUT);
-  pinMode(LineTeacking_Pin_Middle, INPUT);
-  pinMode(LineTeacking_Pin_Left, INPUT);
-  Servo libServo;
-  libServo.attach(3);
-  IRbegin();
+  if (version == "v4")
+  {
+    PWMA = 5;
+    PWMB = 6;
+    AIN1 = 8;
+    BIN1 = 7;
+    Setup();
+  }
+  if (version == "v4.1")
+  {
+    PWMA = 5;
+    PWMB = 6;
+    AIN1 = 7;
+    BIN1 = 8;
+    Setup();
+  }
+  if (version == "v4.2")
+  {
+    PWMA = 5;
+    PWMB = 6;
+    AIN1 = 7;
+    BIN1 = 8;
+    Setup();
+  }
+}
 
-  // IRrecv irrecv(RECV_PIN);
-  // irrecv->begin(RECV_PIN, LED);
+void elegoo::Setup()
+{
+  if (vers <= 3)
+  {
+    pinMode(in1, OUTPUT);
+    pinMode(in2, OUTPUT);
+    pinMode(in3, OUTPUT);
+    pinMode(in4, OUTPUT);
+    pinMode(ENA, OUTPUT);
+    pinMode(ENB, OUTPUT);
+    pinMode(trig, OUTPUT);
+    pinMode(echo, INPUT);
+    pinMode(LED, OUTPUT);
+    pinMode(ENB, OUTPUT);
+    pinMode(LineTeacking_Pin_Right, INPUT);
+    pinMode(LineTeacking_Pin_Middle, INPUT);
+    pinMode(LineTeacking_Pin_Left, INPUT);
+    Servo libServo;
+    libServo.attach(3);
+    IRbegin();
+  }
+  if (vers >= 4)
+  {
+    pinMode(PWMA, OUTPUT);
+    pinMode(PWMB, OUTPUT);
+    pinMode(AIN1, OUTPUT);
+    pinMode(BIN1, OUTPUT);
+    pinMode(PIN_Voltage, INPUT);
+    pinMode(PIN_LTL, INPUT);
+    pinMode(PIN_LTM, INPUT);
+    pinMode(PIN_LTR, INPUT);
+  }
 }

src/Elegoo.h

@@ -8,13 +8,15 @@
 #define echo A4
 #define trig A5
 
-#define defaultVersion 3
 #define defaultSpeed 255
 
 //-------Line Tracking Pins--------//
 #define LineTeacking_Pin_Right  10
 #define LineTeacking_Pin_Middle 4
 #define LineTeacking_Pin_Left   2
+#define PIN_LTL A2
+#define PIN_LTM A1
+#define PIN_LTR A0
 
 //---------- IR REMOTE -------------//
 #define RECV_PIN  12        //Infrared signal receiving pin
@@ -41,11 +43,21 @@
 #define KEY_STAR  16728765
 #define KEY_HASH  16732845
 
+#define PIN_Voltage A3
+
+/*
+#define  v1   1
+#define  v2   2
+#define  v3   3
+#define  v4   4
+#define  v41  5
+#define  v42  6
+*/
 
 class elegoo
 {
   public:
-    elegoo(int vers);  //Constructor
+    elegoo(String version);  //Constructor
     void  forward(int speed);
     void  back(int speed);
     void  left(int speed);
@@ -87,6 +99,8 @@ class elegoo
     bool forwardDistance(int distance);
     void backDistance(int distance, int speed);
     void backDistance(int distance);
+    float getVoltage();
+
   private:
     Servo *libServo;
     int in1 = 0;
@@ -95,8 +109,26 @@ class elegoo
     int in4 = 0;
     int ENA = 0;
     int ENB = 0;
-    int version;
+
+    /*
+    Version Controller
+    1 = v1
+    2 = v2
+    3 = v3
+    4 = v4.0
+    5 = v4.1
+    6 = v4.2
+    */
+
+    int vers;
     int keepDistanceValue = 10;
+    int PWMA;
+    int PWMB;
+    int AIN1;
+    int BIN1;
+
+  private:
+    void Setup();
 };
 
 class controler