cotrol on of

.gitignore

@@ -1,4 +1,5 @@
-.pioenvs
-.piolibdeps
-.clang_complete
-.gcc-flags.json
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.travis.yml

@@ -1,6 +1,6 @@
 # Continuous Integration (CI) is the practice, in software
 # engineering, of merging all developer working copies with a shared mainline
-# several times a day < http://docs.platformio.org/page/ci/index.html >
+# several times a day < https://docs.platformio.org/page/ci/index.html >
 #
 # Documentation:
 #
@@ -8,13 +8,13 @@
 #   < https://docs.travis-ci.com/user/integration/platformio/ >
 #
 # * PlatformIO integration with Travis CI
-#   < http://docs.platformio.org/page/ci/travis.html >
+#   < https://docs.platformio.org/page/ci/travis.html >
 #
 # * User Guide for `platformio ci` command
-#   < http://docs.platformio.org/page/userguide/cmd_ci.html >
+#   < https://docs.platformio.org/page/userguide/cmd_ci.html >
 #
 #
-# Please choice one of the following templates (proposed below) and uncomment
+# Please choose one of the following templates (proposed below) and uncomment
 # it (remove "# " before each line) or use own configuration according to the
 # Travis CI documentation (see above).
 #
@@ -42,7 +42,7 @@
 
 
 #
-# Template #2: The project is intended to by used as a library with examples
+# Template #2: The project is intended to be used as a library with examples.
 #
 
 # language: python

.vscode/extensions.json

@@ -0,0 +1,7 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ]
+}

include/README

@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

@@ -0,0 +1,15 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:mhetesp32devkit]
+platform = espressif32
+board = mhetesp32devkit
+framework = arduino
+monitor_speed = 115200

src/main.cpp

@@ -0,0 +1,117 @@
+#include <Arduino.h>
+#include <Wire.h>
+#include <MPU6050_tockn.h>
+TaskHandle_t TareaProcesador1;
+void loop1(void *pvParameters);
+volatile int left_motor, throttle_left_motor, throttle_counter_left_motor, throttle_left_motor_memory;
+volatile int right_motor, throttle_right_motor, throttle_counter_right_motor, throttle_right_motor_memory;
+volatile int dir = 0;
+bool FWD = HIGH;
+bool BWD = LOW;
+
+#define STEP_1 13
+#define DIR_1 25
+#define STEP_2 33
+#define DIR_2 14
+MPU6050 mpu6050(Wire);
+
+float ax, ay, az;
+long timer = 0;
+void setup()
+{
+  pinMode(23, OUTPUT);
+  pinMode(STEP_1, OUTPUT);
+  pinMode(STEP_2, OUTPUT);
+  pinMode(DIR_1, OUTPUT);
+  pinMode(DIR_2, OUTPUT);
+  digitalWrite(DIR_1, LOW);
+  digitalWrite(DIR_2, LOW);
+  Wire.begin();
+  Serial.begin(115200);
+  Wire.begin();
+  xTaskCreatePinnedToCore(loop1, "Tarea1", 10000, NULL, 1, &TareaProcesador1, 0);
+
+  delay(2000); // Pause for 2 seconds
+
+  mpu6050.begin();
+  mpu6050.calcGyroOffsets(false);
+}
+
+void loop()
+{
+  mpu6050.update();
+  if (millis() - timer > 10)
+  {
+
+    // ax = mpu6050.getAngleX();
+    ay = mpu6050.getAngleY();
+    //az = mpu6050.getAngleZ();
+
+    /*   Serial.print(ax), Serial.print(",");
+    Serial.print(ay), Serial.print(",");
+    Serial.println(az);*/
+    if (ay > 4)
+    {
+      dir = -1;
+    }
+    else if (ay < -4)
+    {
+      dir = 1;
+    }
+    else
+    {
+      dir = 0;
+    }
+    throttle_left_motor = 6 * dir;
+    throttle_right_motor = 6 * dir;
+
+    timer = millis();
+  }
+}
+
+void loop1(void *pvParameters)
+{
+  for (;;)
+  {
+
+    throttle_counter_left_motor++; //Increase the throttle_counter_left_motor variable by 1 every time this routine is executed
+    if (throttle_counter_left_motor > throttle_left_motor_memory)
+    {                                                   //If the number of loops is larger then the throttle_left_motor_memory variable
+      throttle_counter_left_motor = 0;                  //Reset the throttle_counter_left_motor variable
+      throttle_left_motor_memory = throttle_left_motor; //Load the next throttle_left_motor variable
+      if (throttle_left_motor_memory < 0)
+      {                                   //If the throttle_left_motor_memory is negative
+        digitalWrite(DIR_1, BWD);         //Set output 3 low to reverse the direction of the stepper controller
+        throttle_left_motor_memory *= -1; //Invert the throttle_left_motor_memory variable
+      }
+      else
+        digitalWrite(DIR_1, FWD); //Set output 3 high for a forward direction of the stepper motor
+    }
+    else if (throttle_counter_left_motor == 1)
+      digitalWrite(STEP_1, HIGH); //Set output 2 high to create a pulse for the stepper controller
+    else if (throttle_counter_left_motor == 2)
+      digitalWrite(STEP_1, LOW); //Set output 2 low because the pulse only has to last for 20us
+
+    //right motor pulse calculations
+    throttle_counter_right_motor++; //Increase the throttle_counter_right_motor variable by 1 every time the routine is executed
+    if (throttle_counter_right_motor > throttle_right_motor_memory)
+    {                                                     //If the number of loops is larger then the throttle_right_motor_memory variable
+      throttle_counter_right_motor = 0;                   //Reset the throttle_counter_right_motor variable
+      throttle_right_motor_memory = throttle_right_motor; //Load the next throttle_right_motor variable
+      if (throttle_right_motor_memory < 0)
+      {                                    //If the throttle_right_motor_memory is negative
+        digitalWrite(DIR_2, BWD);          //Set output 5 low to reverse the direction of the stepper controller
+        throttle_right_motor_memory *= -1; //Invert the throttle_right_motor_memory variable
+      }
+      else
+        digitalWrite(DIR_2, FWD);
+      ; //Set output 5 high for a forward direction of the stepper motor
+    }
+    else if (throttle_counter_right_motor == 1)
+      digitalWrite(STEP_2, HIGH); //Set output 4 high to create a pulse for the stepper controller
+    else if (throttle_counter_right_motor == 2)
+      digitalWrite(STEP_2, LOW);
+
+    delay(1);
+  }
+}

test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html