update pinout

docs/PINOUT.md

@@ -11,7 +11,7 @@
 | `PWM_Left_2D`   | GPIO6        | PWM motor kiri (direksi 2)          |
 | `IR_Right`      | GPIO7        | Sensor IR kanan                     |
 | `STBY`          | GPIO8        | Pin Standby Motor                   |
-| `LedState2`     | GPIO2        | Indikator Mode LED Kombinasi 2      |
+| `LedState2`     | GPIO9        | Indikator Mode LED Kombinasi 2      |
 | `IR_Left`       | GPIO10       | Sensor IR kiri                      |
 | `Trig`          | GPIO20       | Trigger sensor ultrasonik           |
 | `Echo`          | GPIO21       | Echo sensor ultrasonik              |
@@ -23,7 +23,7 @@
 - LedState1 LOW  +  LedState2 LOW     = MODE 1 ON
 - LedState1 LOW  +  LedState2 HIGH    = MODE 2 ON
 - LedState1 HIGH +  LedState2 LOW     = MODE 3 ON
-- LedState1 HIGH +  LedState2 HIGH     = MODE 4 ON
+- LedState1 HIGH +  LedState2 HIGH    = MODE 4 ON
 
 ---
 

lib/Modules/IR/IR.cpp

@@ -1,32 +1,17 @@
 #include <IR/IR.h>
 #include <Arduino.h>
 
-IR::IR() {}
+IR::IR(int leftPin, int rightPin): _left_pin(leftPin), _right_pin(rightPin) {}
 
 void IR::begin() {
-    pinMode(_IR_Left_Pin, INPUT);
-    pinMode(_IR_Right_Pin, INPUT);
-
-    _IR_left = digitalRead(_IR_Left_Pin);
-    _IR_right = digitalRead(_IR_Right_Pin);
+    pinMode(_left_pin, INPUT);
+    pinMode(_right_pin, INPUT);
 }
 
-int IR::getIRLeft() {
-    _IR_left = digitalRead(_IR_Left_Pin);
-    return _IR_left;
+int IR::getLeftSignal() {
+    return digitalRead(_left_pin);
 }
 
-int IR::getIRRight() {
-    _IR_right = digitalRead(_IR_Right_Pin);
-    return _IR_right;
-}
-
-void IR::printLog() {
-    _IR_left = digitalRead(_IR_Left_Pin);
-    _IR_right = digitalRead(_IR_Right_Pin);
-
-    Serial.print("IR L: ");
-    Serial.println(_IR_left);
-    Serial.print("IR R: ");
-    Serial.println(_IR_right);
+int IR::getRightSignal() {
+    return digitalRead(_right_pin);
 }

lib/Modules/IR/IR.h

@@ -1,23 +1,17 @@
 #ifndef IR_H
 #define IR_H
 
-#define IR_LEFT_PIN 10
-#define IR_RIGHT_PIN 7
-
 class IR
 {
-    public:
-        IR();
-        void begin();
-        void printLog();
-        int getIRLeft();
-        int getIRRight();
-
-    private:
-        const int _IR_Left_Pin = IR_LEFT_PIN;
-        const int _IR_Right_Pin = IR_RIGHT_PIN;
-        int _IR_left;
-        int _IR_right;
+public:
+    IR(int leftPin, int rightPin);
+    void begin();
+    int getLeftSignal();
+    int getRightSignal();
+
+private:
+    const int _left_pin;
+    const int _right_pin;
 };
 
 #endif

lib/Modules/LedControl/LedControl.cpp

@@ -1,52 +1,43 @@
 #include <LedControl/LedControl.h>
 #include <Arduino.h>
 
-// Constructor to set pin modes
 LedControl::LedControl(int pin_A, int pin_B) : _pin_A(pin_A), _pin_B(pin_B) {
     pinMode(_pin_A, OUTPUT);
     pinMode(_pin_B, OUTPUT);
 }
 
-// Destructor
-LedControl::~LedControl() {
-    // Nothing specific for now
-}
+LedControl::~LedControl() {}
 
-// Turn on a specific LED
 void LedControl::turnOn(int led) {
     digitalWrite(led, HIGH);
 }
 
-// Turn off a specific LED
 void LedControl::turnOff(int led) {
     digitalWrite(led, LOW);
 }
 
-// Apply state to the LEDs dynamically
 void LedControl::applyLedState(bool state_A, bool state_B) {
     digitalWrite(_pin_A, state_A ? HIGH : LOW);
     digitalWrite(_pin_B, state_B ? HIGH : LOW);
 }
 
-// Dynamic setMode based on the input mode
 void LedControl::setMode(int mode) {
     switch (mode) {
-        case 1:  // RED -> Mode 1
+        case 1:  // Mode 1
             applyLedState(LOW, LOW);
             break;
-        case 2:  // GREEN -> Mode 2
+        case 2:  // Mode 2
             applyLedState(HIGH, LOW);
             break;
-        case 3:  // LIGHTBLUE -> Mode 3
+        case 3:  // Mode 3
             applyLedState(LOW, HIGH);
             break;
-        case 4:  // YELLOW -> Mode 4
+        case 4:  // Mode 4
             applyLedState(HIGH, HIGH);
             break;
         default:
-            // Default case if mode is not recognized
             Serial.println("Invalid mode");
-            applyLedState(LOW, LOW);  // Default to Mode 1 (OFF)
+            applyLedState(LOW, LOW);  // Default to Mode 1
             break;
     }
 }

lib/Modules/LedControl/LedControl.h

@@ -7,14 +7,12 @@
 class LedControl
 {
 public:
-    // Constructor & Destructor
     LedControl(int pin_A = LED_STATE_1, int pin_B = LED_STATE_2);
     ~LedControl();
 
-    // Methods for controlling the LEDs
     void turnOn(int led);
     void turnOff(int led);
-    void setMode(int mode);  // Dynamic Mode
+    void setMode(int mode);  // Dynamic LED Interaction
 
 private:
     const int _pin_A;

lib/README

@@ -0,0 +1,46 @@
+
+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 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

lib/Task/IRReading/IRTask.cpp

@@ -1,89 +1,84 @@
-#include <IRReading/IRTask.h> 
+#include <IRReading/IRTask.h>
 
-#define MAX_PWM_SPEED 255
-#define MIN_PWM_SPEED 0
+extern int motorSpeed;
+extern int motorDirection; 
 
 IRTask::IRTask(IR &ir, MotorDriver &rightMotor, MotorDriver &leftMotor) 
     : _ir(ir), _rightMotor(rightMotor), _leftMotor(leftMotor), _taskHandle(NULL), _taskRunning(false) {
-    motorMaxSpeed = EEPROMConfig::getMemInt(1);
-    motorWeight = EEPROMConfig::getMemInt(2);
-}
-
-TaskHandle_t IRTask::getTaskHandle() {
-    return _taskHandle;
+    // motorMaxSpeed = EEPROMConfig::getMemInt(1);
+    // motorWeight = EEPROMConfig::getMemInt(2);
+    // motorSpeed = motorMaxSpeed;
 }
 
 void IRTask::startTask() {
     if (_taskHandle == NULL) {
+        _taskRunning = true;
         xTaskCreate(irMeasureTask, "IRTask", _taskStackSize, this, _taskPriority, &_taskHandle);
-    }else {
-        _taskRunning = true; 
-        Serial.println("IR task started.");
     }
 }
 
 void IRTask::stopTask() {
     if (_taskHandle != NULL) {
+        motorSpeed = 0;
         _taskRunning = false;
         vTaskDelete(_taskHandle);
         _taskHandle = NULL;
-        _rightMotor.stop();
-        _leftMotor.stop();
-        Serial.println("IR Task stopped.");
+        Serial.println("IR task stopped.");
     }
 }
 
-void IRTask::suspendTask() {
-    if (_taskHandle != NULL) {
-        vTaskSuspend(_taskHandle);
-        _rightMotor.stop();
-        _leftMotor.stop();
-        Serial.println("IR Task suspended.");
-    }
+bool IRTask::getIsRunning() {
+    return _taskRunning;
 }
 
-void IRTask::resumeTask() {
-    if (_taskHandle != NULL) {
-        vTaskResume(_taskHandle);
-        Serial.println("IR Task resumed.");
-    }
-}
 
 void IRTask::irMeasureTask(void *_parameters) {
     IRTask *self = static_cast<IRTask *>(_parameters);
-    self->_ir.begin();
-
-    while (self->_taskRunning) {
-        int irLeft = self->_ir.getIRLeft();
-        int irRight = self->_ir.getIRRight();
 
-        self->motorMaxSpeed = EEPROMConfig::getMemInt(1);
-        self->motorWeight = EEPROMConfig::getMemInt(2);
+    while (self->_taskRunning) {
+        int irLeft = self->_ir.getLeftSignal();
+        int irRight = self->_ir.getRightSignal();
 
-        int leftMotorSpeed = self->motorMaxSpeed;
-        int rightMotorSpeed = self->motorMaxSpeed;
+        motorSpeed = 100;
 
         if (irLeft == LOW && irRight == HIGH) {
-            leftMotorSpeed = self->motorMaxSpeed - self->motorWeight;
-            rightMotorSpeed = self->motorMaxSpeed + self->motorWeight;
-        } else if (irLeft == HIGH && irRight == LOW) {
-            leftMotorSpeed = self->motorMaxSpeed + self->motorWeight;
-            rightMotorSpeed = self->motorMaxSpeed - self->motorWeight;
-        } else if (irLeft == LOW && irRight == LOW) {
-            self->_rightMotor.stop();
-            self->_leftMotor.stop();
-            vTaskDelay(pdMS_TO_TICKS(10));
-            continue;
-        } else {
-            leftMotorSpeed = self->motorMaxSpeed;
-            rightMotorSpeed = self->motorMaxSpeed;
+           motorDirection = 0;
+        } else if(irLeft == HIGH && irRight == LOW) {
+            motorDirection = 1;
+        } else if(irLeft == HIGH && irRight == HIGH) {
+            motorDirection = -1;
+        }else {
+            motorSpeed = 0;
+            motorDirection = 0;
         }
 
-        self->_rightMotor.forward(self->motorMaxSpeed);
-        self->_leftMotor.forward(self->motorMaxSpeed);
-        vTaskDelay(pdMS_TO_TICKS(10));
+        // self->motorMaxSpeed = EEPROMConfig::getMemInt(1);
+        // self->motorWeight = EEPROMConfig::getMemInt(2);
+
+        // int leftMotorSpeed = self->motorMaxSpeed;
+        // int rightMotorSpeed = self->motorMaxSpeed;
+
+        // if (irLeft == LOW && irRight == HIGH) {
+        //     leftMotorSpeed = self->motorMaxSpeed - self->motorWeight;
+        //     rightMotorSpeed = self->motorMaxSpeed + self->motorWeight;
+        // } else if (irLeft == HIGH && irRight == LOW) {
+        //     leftMotorSpeed = self->motorMaxSpeed + self->motorWeight;
+        //     rightMotorSpeed = self->motorMaxSpeed - self->motorWeight;
+        // } else if (irLeft == LOW && irRight == LOW) {
+        //     self->_rightMotor.stop();
+        //     self->_leftMotor.stop();
+        //     vTaskDelay(pdMS_TO_TICKS(10));
+        //     continue;
+        // } else {
+        //     leftMotorSpeed = self->motorMaxSpeed;
+        //     rightMotorSpeed = self->motorMaxSpeed;
+        // }
+        // self->_rightMotor.forward(self->motorMaxSpeed);
+        // self->_leftMotor.forward(self->motorMaxSpeed);
+
+
+        vTaskDelay(pdMS_TO_TICKS(50));
     }
 
-    Serial.println("Ultrasonic taskrunning false.");
-    self->_taskRunning = false;
+    Serial.println("IR taskrunning false.");
 }

lib/Task/IRReading/IRTask.h

@@ -11,8 +11,7 @@ class IRTask {
     IRTask(IR &ir, MotorDriver &rightMotor, MotorDriver &leftMotor);
     void startTask();
     void stopTask(); 
-    void suspendTask();
-    void resumeTask();
+    bool getIsRunning();
     TaskHandle_t getTaskHandle();
 
 private: