65 lines
1.2 KiB
C++
65 lines
1.2 KiB
C++
#include <Arduino.h>
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#include "motor.h"
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#include "utils.h"
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#include "storage.h"
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#include "ble.h"
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#include "led.h"
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#include "ir.h"
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#include "tracking.h"
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#include "mode.h"
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#include "consts.h"
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void setup()
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{
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// 初始化口
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Serial.begin(115200);
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// 初始化 EEPROM
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Storage::init();
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// 初始化 BLE
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BLEManager::init(Storage::getName());
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// 初始化电机
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MotorController::init(
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{MOTOR_A_PWMA, MOTOR_A_AIN1, MOTOR_A_AIN2},
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{MOTOR_B_PWMB, MOTOR_B_BIN1, MOTOR_B_BIN2},
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{MOTOR_C_PWMA, MOTOR_C_AIN1, MOTOR_C_AIN2},
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{MOTOR_D_PWMB, MOTOR_D_BIN1, MOTOR_D_BIN2});
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// 初始化红外循迹模块
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IR::init();
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// 初始化超声波
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Ultrasonic::init({US_TRIG, US_ECHO}, US_SERVO_PIN);
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// 初始化状态灯
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if (STATUS_LED_ENABLE)
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{
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LED::init(STATUS_LED);
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}
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// 初始化循迹控制器
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TrackingController::init();
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}
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void loop()
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{
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// 循环 1 部分，获取传感器数据
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IR::update();
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// 循环 2 部分，更新状态灯
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if (STATUS_LED_ENABLE)
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{
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LED::updateStatusLED(BLEManager::deviceConnected);
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}
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// 循环 3 部分，处理设备模式
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Mode::processDeviceMode();
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// 循环 4 部分，反馈状态
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if (BLEManager::deviceConnected)
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{
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sendStatus();
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}
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} |