24 lines
555 B
C++
24 lines
555 B
C++
#include "EncoderMotor.h"
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EncoderMotor::EncoderMotor () {
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};
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EncoderMotor::EncoderMotor (uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin) {
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enable_pin = e_pin;
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forward_pin = f_pin;
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backward_pin = b_pin;
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encoder_a_pin = ea_pin;
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encoder_b_pin = eb_pin;
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};
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void EncoderMotor::Setup () {
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pinMode(enable_pin, OUTPUT);
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pinMode(forward_pin, OUTPUT);
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pinMode(backward_pin, OUTPUT);
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ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
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ledcAttachPin(enable_pin, pwm_channel);
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ledcWrite(pwm_channel, pwm_duty_cycle);
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}
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