initial commit

.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

.vscode/extensions.json

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

include/Motor.h

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+#include <Arduino.h>
+
+class Motor
+{
+private:
+  uint8_t pwm_pin;
+  uint8_t in1_pin;
+  uint8_t in2_pin;
+
+public:
+  Motor(uint8_t pwm_pin, uint8_t in1_pin, uint8_t in2_pin);
+  void setup();
+  void run(uint8_t speed, bool forward);
+  void stop(bool freewheel);
+};

include/README

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+
+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

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+
+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

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+; 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:teensy41]
+platform = teensy
+board = teensy41
+framework = arduino
+
+upload_protocol = teensy-cli

src/Motor.cpp

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+#include "Motor.h"
+
+Motor::Motor(uint8_t pwm, uint8_t in1, uint8_t in2)
+{
+  pwm_pin = pwm;
+  in1_pin = in1;
+  in2_pin = in2;
+}
+
+void Motor::setup()
+{
+  pinMode(pwm_pin, OUTPUT);
+  pinMode(in1_pin, OUTPUT);
+  pinMode(in2_pin, OUTPUT);
+}
+
+void Motor::run(uint8_t speed, bool forward)
+{
+  if (speed == 0) {
+    return stop(false);
+  }
+
+  digitalWrite(in1_pin, forward ? HIGH : LOW);
+  digitalWrite(in2_pin, forward ? LOW : HIGH);
+  analogWrite(pwm_pin, speed);
+}
+
+void Motor::stop(bool freewheel)
+{
+  analogWrite(pwm_pin, 0);
+
+  digitalWrite(in1_pin, freewheel ? LOW : HIGH);
+  digitalWrite(in2_pin, freewheel ? LOW : HIGH);  
+}

src/main.cpp

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+#include <Arduino.h>
+#include "Motor.h"
+
+// Vertical motor top
+#define VERT_UP_PWM   3
+#define VERT_UP_AIN2  4
+#define VERT_UP_AIN1  5
+
+// Vertical motor bottom
+#define VERT_DOWN_PWM   9
+#define VERT_DOWN_AIN2  7
+#define VERT_DOWN_AIN1  8
+
+// Horizontal motor left
+#define HORZ_LEFT_PWM  24
+#define HORZ_LEFT_AIN2 25
+#define HORZ_LEFT_AIN1 26
+
+// Horizontal motor right
+#define HORZ_RIGHT_PWM  29
+#define HORZ_RIGHT_AIN2 27
+#define HORZ_RIGHT_AIN1 28
+
+// Vertical sensors
+#define VERT_END_OUTER  40
+#define VERT_END_INNER  39
+#define VERT_CNT_OUTER  38
+#define VERT_CNT_INNER  37
+
+// Horizontal sensors
+#define HORZ_END_OUTER  33
+#define HORZ_END_INNER  34
+#define HORZ_CNT_INNER  35
+#define HORZ_CNT_OUTER  36
+
+volatile int32_t hor_pos;
+volatile int32_t vert_pos;
+
+Motor vert_up(VERT_UP_PWM, VERT_UP_AIN1, VERT_UP_AIN2);
+Motor vert_down(VERT_DOWN_PWM, VERT_DOWN_AIN1, VERT_DOWN_AIN2);
+Motor horz_left(HORZ_LEFT_PWM, HORZ_LEFT_AIN1, HORZ_LEFT_AIN2);
+Motor horz_right(HORZ_RIGHT_PWM, HORZ_RIGHT_AIN1, HORZ_RIGHT_AIN2);
+
+int32_t count(int pinA, int pinB) {
+  if (digitalRead(pinA)) return digitalRead(pinB) ? 1 : -1;
+  else return digitalRead(pinB) ? -1 : 1;
+}
+
+void hor_count() {
+  hor_pos += count(HORZ_CNT_INNER, HORZ_CNT_OUTER);
+}
+
+void vert_count() {
+  vert_pos += count(VERT_CNT_INNER, VERT_CNT_OUTER);
+}
+
+void setup() {
+  Serial.begin(115200);
+
+  pinMode(LED_BUILTIN, OUTPUT);
+
+  hor_pos = 0;
+  vert_pos = 0;
+
+  vert_up.setup();
+  vert_down.setup();
+  vert_up.stop(true);
+  vert_down.stop(true);
+
+  horz_left.setup();
+  horz_right.setup();
+  horz_left.stop(true);
+  horz_right.stop(true);
+
+  pinMode(HORZ_CNT_INNER, INPUT);
+  pinMode(HORZ_CNT_OUTER, INPUT);
+  pinMode(VERT_CNT_INNER, INPUT);
+  pinMode(VERT_CNT_OUTER, INPUT);
+
+  digitalWrite(HORZ_CNT_INNER, LOW);
+  digitalWrite(HORZ_CNT_OUTER, LOW);
+  digitalWrite(VERT_CNT_INNER, LOW);
+  digitalWrite(VERT_CNT_OUTER, LOW);
+  
+  attachInterrupt(digitalPinToInterrupt(HORZ_CNT_INNER), hor_count, CHANGE);
+  // attachInterrupt(digitalPinToInterrupt(HORZ_CNT_OUTER), hor_count, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(VERT_CNT_INNER), vert_count, CHANGE);
+  // attachInterrupt(digitalPinToInterrupt(VERT_CNT_OUTER), vert_count, CHANGE);
+}
+
+void loop() {
+  // Serial.printf("hor_count1: %i | \t hor_count2: %i | \t vert_count1: %i | \t vert_count2: %i \n", digitalRead(HORZ_CNT_INNER), digitalRead(HORZ_CNT_OUTER), digitalRead(VERT_CNT_INNER), digitalRead(VERT_CNT_OUTER));
+
+  Serial.printf("hor_count %i | \t vert_count %i \n", hor_pos, vert_pos);
+
+  delay(500);
+}

test/README

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+
+This directory is intended for PlatformIO 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 PlatformIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html