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firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.cpp

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+ # include "Arduino.h"
+ # include "OpenTB6612FNG.h"
+
+
+
+
+
+OpenTB6612FNG::OpenTB6612FNG(int TP) {
+
+	pinMode(PWMA, OUTPUT);
+	pinMode(AIN1, OUTPUT);
+	pinMode(AIN2, OUTPUT);
+	pinMode(STBY, OUTPUT);
+	pinMode(BIN1, OUTPUT);
+	pinMode(BIN2, OUTPUT);
+	pinMode(PWMB, OUTPUT);
+   ledcSetup(ledChannel, freq, resolution);
+   ledcSetup(ledChannel2, freq, resolution);
+  
+  // attach the channel to the GPIO to be controlled
+  ledcAttachPin(PWMA, ledChannel);
+  ledcAttachPin(PWMB, ledChannel2);
+  
+}
+
+void OpenTB6612FNG::MotorIz(int value) {
+	/* if (value >= 0) {
+		// si valor positivo vamos hacia adelante
+
+		digitalWrite(AIN1, HIGH);
+		digitalWrite(AIN2, LOW);
+	} else {
+		// si valor negativo vamos hacia atras
+
+		digitalWrite(AIN1, LOW);
+		digitalWrite(AIN2, HIGH);
+		value *= -1;
+	}
+ */
+	// Setea Velocidad
+
+	ledcWrite(ledChannel, value);
+}
+
+void OpenTB6612FNG::MotorDe(int value) {
+	/* if (value >= 0) {
+		// si valor positivo vamos hacia adelante
+
+		digitalWrite(BIN1, HIGH);
+		digitalWrite(BIN2, LOW);
+	} else {
+		// si valor negativo vamos hacia atras
+
+		digitalWrite(BIN1, LOW);
+		digitalWrite(BIN2, HIGH);
+		value *= -1;
+	}
+ */
+	// Setea Velocidad
+
+	ledcWrite(ledChannel2, value);
+}
+
+void OpenTB6612FNG::Motores(int left, int righ) {
+	MotorIz(left);
+	MotorDe(righ);
+	digitalWrite(STBY, LOW);
+
+
+}
+
+void OpenTB6612FNG::Forward()
+{
+  digitalWrite(AIN1, HIGH);
+  digitalWrite(AIN2, LOW);
+  digitalWrite(BIN1, HIGH);
+  digitalWrite(BIN2, LOW);
+}
+
+void OpenTB6612FNG::Backward()
+{
+  digitalWrite(AIN1, LOW);
+  digitalWrite(AIN2, HIGH);
+  digitalWrite(BIN1, LOW);
+  digitalWrite(BIN2, HIGH);
+}
+
+
+
+
+void OpenTB6612FNG::Stop()
+{
+  digitalWrite(AIN1, LOW);
+  digitalWrite(AIN2, LOW);
+  digitalWrite(BIN1, LOW);
+  digitalWrite(BIN2, LOW);
+}