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firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.cpp

@@ -0,0 +1,97 @@
+ # 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);
+}

firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.h

@@ -0,0 +1,31 @@
+#ifndef OpenTB6612FNG_h
+#define OpenTB6612FNG_h
+#include <Arduino.h>
+#define PWMA 36
+#define AIN1 39
+#define AIN2 34
+#define STBY 35
+#define BIN1 32
+#define BIN2 33
+#define PWMB 25
+
+const int freq = 5000;
+const int ledChannel = 0;
+const int ledChannel2 = 1;
+const int resolution = 8;
+
+
+class OpenTB6612FNG{
+	public:
+	OpenTB6612FNG(int TP);
+
+	void MotorIz(int value);
+	void MotorDe(int value);
+	void Motores(int left, int righ);
+	void Forward();
+	void Backward();
+	void Stop();
+
+};
+
+# endif

firmwareCarroEsp32/src/OpenTB6612FNG/keyswords.txt

@@ -0,0 +1,7 @@
+OpenTB6612FNG	KEYWORD1
+
+MotorIz	KEYWORD2
+MotorDe	KEYWORD2
+Motores	KEYWORD2
+Forward KEYWORD2
+

firmwareCarroEsp32/src/main.cpp

@@ -1,7 +1,9 @@
 #include <Arduino.h>
 #include "BluetoothSerial.h"
 #include "carroEsp32.h"
+#include "OpenTB6612FNG/OpenTB6612FNG.h"
 
+OpenTB6612FNG misMotores(0);
 BluetoothSerial ESP_BT; //Object for Bluetooth
 
 
@@ -13,7 +15,8 @@ void setup() {
 }
 
 void loop() {
-  
+  misMotores.Forward();
+  misMotores.Motores(255,255);
   if (ESP_BT.available()) //Check if we receive anything from Bluetooth
   {
     //incoming = ESP_BT.read(); //Read what we recevive