debuing

L9110/HG7881_L9110/HG7881_L9110.ino

@@ -19,26 +19,25 @@ float ki = 0.01;
 motor motor1 = motor(ENCA, ENCB, IN1, IN2, 0, 50, 100); // Set upper limit to 100
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
 
 
     motor1.init(kp, ki, kd);
 
 }
 void loop()
 {
-    //Serial.println(motor1.target_reached() );
-
-    // Check if the target position is reached
-
-    noInterrupts(); // disable interrupts
-    Serial.print("hello");
-    Serial.print("hello");
-    Serial.print("hello");Serial.print("hello");
-    Serial.print("hello");
-    interrupts(); // re-enable interrupts
+   noInterrupts();
+  Serial.println("hello");
+  interrupts();
+
 
-    motor1.set_target(target*count);
+    if (count%2 == 0){
+      motor1.set_target(0);
+    }else{
+      motor1.set_target(target);
+    }
+
     motor1.start();
 
   while (!motor1.target_reached()) {
@@ -47,7 +46,7 @@ void loop()
   }
   delay(1000); // Wait for 1 second
     //motor1.turn_off();
-    motor1.set_target(target);
+
     count++;
 
 

motorHelp/motorHelp.ino

@@ -0,0 +1,38 @@
+// include the library for the encoder
+#include <Encoder.h>
+
+// define the pins for the encoder
+#define ENC_A 2
+#define ENC_B 15
+
+// create an Encoder object
+Encoder myEnc(ENC_A, ENC_B);
+
+// define the pins for the motor control
+#define MOTOR_1 26
+#define MOTOR_2 25
+
+// define the target count
+#define TARGET_COUNT 370
+
+void setup() {
+  // set the motor control pins as outputs
+  pinMode(MOTOR_1, OUTPUT);
+  pinMode(MOTOR_2, OUTPUT);
+}
+
+void loop() {
+  // read the encoder count
+  long count = myEnc.read();
+
+  // check if the target count has been reached
+  if (count < TARGET_COUNT) {
+    // set the motor speed and direction
+    digitalWrite(MOTOR_1, HIGH);
+    digitalWrite(MOTOR_2, LOW);
+  } else {
+    // stop the motor
+    digitalWrite(MOTOR_1, LOW);
+    digitalWrite(MOTOR_2, LOW);
+  }
+}

risingSun/risingSun.ino

@@ -45,11 +45,11 @@ int doorStaus = 1;
 float kp = 8;
 float kd = 1;
 float ki = 0.01;
-motor motor1 = motor(ENCA, ENCB, IN1, IN2, 0, 80, 150); // Set upper limit to 100
+motor motor1 = motor(ENCA, ENCB, IN1, IN2, 0, 50, 100); // Set upper limit to 100
 
 
 void setup() {
-  Serial.begin(9600);
+  Serial.begin(115200);
   rtc.setTime(1680108200);
   while (!Serial);
 
@@ -183,9 +183,13 @@ void manageSettingsDoor() {
 
     }
     motor1.start();
+
     while (!motor1.target_reached()) {
+
       motor1.start();
+
     }
+
     delay(1000); // Wait for 1 second
     motor1.turn_off();