Page 7 of 16
Page 137
class UniMotor {
private:
int gpio;
int duty;
public:
UniMotor(int pin) {
gpio = pin;
}
void setSpeed(float s) {
duty = s * 255;
analogWrite(gpio, duty);
}
};
UniMotor *motor1;
void setup() {
motor1 = new UniMotor(2);
motor1->setSpeed(0.5);
}
void loop() {
}
Page 142
class BiMotor {
private:
int gpio1;
int gpio2;
int duty;
bool forward;
public:
BiMotor(int pin1, int pin2) {
gpio1 = pin1;
gpio2 = pin2;
}
void setSpeedDirection(float s, bool f) {
duty = s * 255;
forward = f;
if (forward) {
analogWrite(gpio1, 0);
analogWrite(gpio1, duty);
} else {
analogWrite(gpio2, 0);
analogWrite(gpio2, duty);
}
}
};
BiMotor *motor1;
void setup() {
motor1 = new BiMotor(2, 4);
motor1->setSpeedDirection(0.5, false);
}
void loop() {}
Page 145
The LEDC library is not currently supported by the Arduino NANO ESP32
class Servo {
private:
int gpio;
int max;
int min;
public:
Servo(int pin) {
gpio = pin;
max = (2 << 9) * 12.5 / 100;
min = (2 << 9) * 2.5 / 100;
ledcAttach(pin, 50, 10);
}
void setAngle(float a) {
int duty = (float)(max - min) * a + min;
ledcWrite(2, duty);
}
};
void loop() {
servo1->setAngle(1.0);
delay(100);
servo1->setAngle(0.5);
delay(100);
servo1->setAngle(0.0);
delay(100);
}
Page 153
Use GPIO 5, 6, 7 and 8 for the Arduino NANO ESP32
#include <Stepper.h>
Stepper stepMot1 = Stepper(200, 16, 17, 18, 19);
void setup() {
stepMot1.setSpeed(1);
stepMot1.step(100);
}
void loop() {
}
Page 157
Use GPIO 5, 6, 7 and 8 for the Arduino NANO ESP32
change Stepperbi stepper1=Stepperbi(16); to Stepperbi stepper1=Stepperbi(5);
class Stepperbi {
private:
int gpio;
int stepTable[8] = { 1, 0, 2, 1, 3, 2, 0, 3 };
int state = 0;
public:
Stepperbi(int pin1) {
gpio = pin1;
for (int i = 0; i < 4; i++) {
pinMode(gpio + i, OUTPUT);
digitalWrite(gpio + i, 0);
}
digitalWrite(gpio, 1);
}
void step(int step) {
if (step > 0) {
digitalWrite(gpio + stepTable[state], (state + 1) % 2);
state = (state + 1) % 8;
} else {
state = (state +7) % 8;
digitalWrite(gpio + stepTable[state], state % 2);
};
}
};
Stepperbi stepper1=Stepperbi(16);
void setup(){};
void loop() {
stepper1.step(1);
delay(10);
}
Page 157
Use GPIO 5, 6, 7 and 8 for the Arduino NANO ESP32
change Stepperbi stepper1=Stepperbi(16); to Stepperbi stepper1=Stepperbi(5);
class Stepperbi {
private:
int gpio;
int stepTable[4] = { 0,2,1,3 };
int state = 0;
public:
Stepperbi(int pin1) {
gpio = pin1;
for (int i = 0; i < 8; i++) {
pinMode(gpio + i, OUTPUT);
digitalWrite(gpio + i, 0);
}
digitalWrite(gpio, 1);
digitalWrite(gpio+2, 1);
}
void step(int step) {
if (step > 0) {
digitalWrite(gpio + stepTable[(state+2) % 4],0);
digitalWrite(gpio + stepTable[state],1);
state = (state + 1) % 4;
} else {
state = (state + 3) % 4;
digitalWrite(gpio + stepTable[(state+2) % 4],1);
digitalWrite(gpio + stepTable[state],0);
};
}
};
Stepperbi stepper1=Stepperbi(16);
void setup(){};
void loop() {
stepper1.step(1);
delay(10);
}
