From d512a56b03d981bae82f32f93647f686162f117f Mon Sep 17 00:00:00 2001
From: mattmcw <matt@sixteenmillimeter.com>
Date: Thu, 11 Jan 2024 23:14:02 -0500
Subject: [PATCH] Arduino sketches, proofs of concept for different features

---
 ino/contact_printer/contact_printer.ino     |  1 -
 ino/esp32_dc_motor/esp32_dc_motor.ino       | 73 +++++++++++++++++++++
 ino/motor_encoder_poc/motor_encoder_poc.ino | 56 ++++++++++++++++
 3 files changed, 129 insertions(+), 1 deletion(-)
 create mode 100644 ino/esp32_dc_motor/esp32_dc_motor.ino
 create mode 100644 ino/motor_encoder_poc/motor_encoder_poc.ino

diff --git a/ino/contact_printer/contact_printer.ino b/ino/contact_printer/contact_printer.ino
index a7249b3..2f495ab 100644
--- a/ino/contact_printer/contact_printer.ino
+++ b/ino/contact_printer/contact_printer.ino
@@ -1,5 +1,4 @@
 #include "ContactPrinter.h";
 
-
 void setup () {}
 void loop () {}
\ No newline at end of file
diff --git a/ino/esp32_dc_motor/esp32_dc_motor.ino b/ino/esp32_dc_motor/esp32_dc_motor.ino
new file mode 100644
index 0000000..3279f70
--- /dev/null
+++ b/ino/esp32_dc_motor/esp32_dc_motor.ino
@@ -0,0 +1,73 @@
+//https://raw.githubusercontent.com/RuiSantosdotme/Random-Nerd-Tutorials/master/Projects/ESP32/ESP32_DC_Motor.ino
+
+/*********
+  Rui Santos
+  Complete project details at http://randomnerdtutorials.com  
+*********/
+
+// Motor A
+int motor1Pin1 = 27; 
+int motor1Pin2 = 26; 
+int enable1Pin = 14; 
+
+// Setting PWM properties
+const int freq = 30000;
+const int pwmChannel = 0;
+const int resolution = 8;
+int dutyCycle = 200;
+
+void setup() {
+  // sets the pins as outputs:
+  pinMode(motor1Pin1, OUTPUT);
+  pinMode(motor1Pin2, OUTPUT);
+  pinMode(enable1Pin, OUTPUT);
+  
+  // configure LED PWM functionalitites
+  ledcSetup(pwmChannel, freq, resolution);
+  
+  // attach the channel to the GPIO to be controlled
+  ledcAttachPin(enable1Pin, pwmChannel);
+
+  Serial.begin(115200);
+
+  // testing
+  Serial.print("Testing DC Motor...");
+}
+
+void loop() {
+  // Move the DC motor forward at maximum speed
+  Serial.println("Moving Forward");
+  digitalWrite(motor1Pin1, LOW);
+  digitalWrite(motor1Pin2, HIGH); 
+  delay(2000);
+
+  // Stop the DC motor
+  Serial.println("Motor stopped");
+  digitalWrite(motor1Pin1, LOW);
+  digitalWrite(motor1Pin2, LOW);
+  delay(1000);
+
+  // Move DC motor backwards at maximum speed
+  Serial.println("Moving Backwards");
+  digitalWrite(motor1Pin1, HIGH);
+  digitalWrite(motor1Pin2, LOW); 
+  delay(2000);
+
+  // Stop the DC motor
+  Serial.println("Motor stopped");
+  digitalWrite(motor1Pin1, LOW);
+  digitalWrite(motor1Pin2, LOW);
+  delay(1000);
+
+  // Move DC motor forward with increasing speed
+  digitalWrite(motor1Pin1, HIGH);
+  digitalWrite(motor1Pin2, LOW);
+  while (dutyCycle <= 255){
+    ledcWrite(pwmChannel, dutyCycle);   
+    Serial.print("Forward with duty cycle: ");
+    Serial.println(dutyCycle);
+    dutyCycle = dutyCycle + 5;
+    delay(500);
+  }
+  dutyCycle = 200;
+}
diff --git a/ino/motor_encoder_poc/motor_encoder_poc.ino b/ino/motor_encoder_poc/motor_encoder_poc.ino
new file mode 100644
index 0000000..65a30c8
--- /dev/null
+++ b/ino/motor_encoder_poc/motor_encoder_poc.ino
@@ -0,0 +1,56 @@
+/***
+ * 
+ *  100RPM 12VDC Worm Gear Motor w/ encoder
+ *  SKU - JGY-370
+ *  DC12V100RPM - SKU-GS00127-05
+ * 
+ *  Gear ratio: 40:1
+ * 
+ *  Red——Motor power + (exchange can control rotating and reversing)
+ *  Black——Coding power- negative (3.3-5V) polarity cannot be wrong
+ *  Yellow——Signal feedback
+ *  Green——Signal feedback
+ *  Blue——Coding power + positive(3.3-5V)polarity cannot be wrong
+ *  White——Motor power - (exchange can control rotating and
+ *
+ ***/
+
+
+
+#include <util/atomic.h> // For the ATOMIC_BLOCK macro
+
+#define ENCA 2 // YELLOW
+#define ENCB 3 // WHITE
+#define MOTORA 10
+#define MOTORB 11
+
+volatile int posi = 0; // specify posi as volatile
+
+void setup() {
+  Serial.begin(9600);
+  pinMode(ENCA, INPUT);
+  pinMode(ENCB, INPUT);
+  attachInterrupt(digitalPinToInterrupt(ENCA), readEncoder,RISING);
+}
+
+void loop() {
+  // Read the position in an atomic block to avoid a potential
+  // misread if the interrupt coincides with this code running
+  // see: https://www.arduino.cc/reference/en/language/variables/variable-scope-qualifiers/volatile/
+  int pos = 0; 
+  ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+    pos = posi;
+  }
+
+  Serial.println(pos);
+}
+
+void readEncoder(){
+  int b = digitalRead(ENCB);
+  if(b > 0){
+    posi++;
+  }
+  else{
+    posi--;
+  }
+}