Introduced compatibility for ESP32 boards.

CytronMotorDriver.cpp

@@ -1,47 +1,79 @@
 #include "CytronMotorDriver.h"
 
-CytronMD::CytronMD(MODE mode, uint8_t pin1, uint8_t pin2)
+CytronMD::CytronMD(MODE mode, uint8_t pin1, uint8_t pin2, uint8_t channel)
 {
-  _mode = mode;
-  _pin1 = pin1;
-  _pin2 = pin2;
-
-  pinMode(_pin1, OUTPUT);
-  pinMode(_pin2, OUTPUT);
-
-  digitalWrite(_pin1, LOW);
-  digitalWrite(_pin2, LOW);
+      _mode = mode;
+      _pin1 = pin1;
+      _pin2 = pin2;
+      _channel = channel;
+
+      pinMode(_pin1, OUTPUT);
+      pinMode(_pin2, OUTPUT);
+
+
+      #if defined(ARDUINO_ARCH_ESP32)
+            ledcSetup(_channel, 5000, 8);
+            ledcAttachPin(_pin1, _channel);
+            digitalWrite(_pin2, LOW);
+      #else
+            digitalWrite(_pin1, LOW);
+            digitalWrite(_pin2, LOW);
+      #endif
 }
 
 void CytronMD::setSpeed(int16_t speed)
 {
-  // Make sure the speed is within the limit.
-  if (speed > 255) {
-    speed = 255;
-  } else if (speed < -255) {
-    speed = -255;
-  }
-
-  // Set the speed and direction.
-  switch (_mode) {
-    case PWM_DIR:
-      if (speed >= 0) {
-        analogWrite(_pin1, speed);
-        digitalWrite(_pin2, LOW);
-      } else {
-        analogWrite(_pin1, -speed);
-        digitalWrite(_pin2, HIGH);
+      // Make sure the speed is within the limit.
+      if (speed > 255)
+      {
+            speed = 255;
       }
-      break;
-
-    case PWM_PWM:
-      if (speed >= 0) {
-        analogWrite(_pin1, speed);
-        analogWrite(_pin2, 0);
-      } else {
-        analogWrite(_pin1, 0);
-        analogWrite(_pin2, -speed);
+      else if (speed < -255)
+      {
+            speed = -255;
       }
-      break;
-  }
-}
+
+      // Set the speed and direction.
+      switch (_mode)
+      {
+      case PWM_DIR:
+            if (speed >= 0)
+            {
+                  #if defined(ARDUINO_ARCH_ESP32)
+                        ledcWrite(_channel, speed);
+                  #else
+                        analogWrite(_pin1, speed);
+                  #endif
+                  digitalWrite(_pin2, LOW);
+            }
+            else
+            {
+                  #if defined(ARDUINO_ARCH_ESP32)
+                        ledcWrite(_channel, -speed);
+                  #else
+                        analogWrite(_pin1, -speed);
+                  #endif
+                  digitalWrite(_pin2, HIGH);
+            }
+            break;
+
+      case PWM_PWM:
+            if (speed >= 0)
+            {     
+                  #if defined(ARDUINO_ARCH_ESP32)
+                  #else
+                        analogWrite(_pin1, speed);
+                        analogWrite(_pin2, 0);
+                  #endif
+            }
+            else
+            {
+                  #if defined(ARDUINO_ARCH_ESP32)
+                  #else
+                        analogWrite(_pin1, 0);
+                        analogWrite(_pin2, -speed);
+                  #endif
+            }
+            break;
+      }
+}

CytronMotorDriver.h

@@ -16,17 +16,16 @@ enum MODE {
 class CytronMD
 {
   public:
-    CytronMD(MODE mode, uint8_t pin1, uint8_t pin2);
+    CytronMD(MODE mode, uint8_t pin1, uint8_t pin2, uint8_t channel = 0);
     void setSpeed(int16_t speed);
 
   protected:
     MODE _mode;
   	uint8_t _pin1;
     uint8_t _pin2;
+    uint8_t _channel;
 };
 
-
-
 /* class CytronMD10C : public CytronMD
 {
   public:

README.md

@@ -3,6 +3,14 @@ This library provides functions for Cytron Motor Drivers.<br>
 Please refer to the examples on how to use the library.<br>
 Connection to the motor driver is described in the comment section of the examples.
 
+## Support
+This library is compatible with the following boards:
+
+- Arduino Uno in PWM_DIR and PWM_PWM mode.
+- ESP32 in PWM_DIR mode.
+
+Please note that the library may work with other Arduino-compatible boards as well, but it has been specifically tested and confirmed to work with Arduino Uno in both the modes and ESP32 in PWM_DIR mode.
+
 ## Installation
 1. Open the Arduino IDE, select `Sketch` -> `Include Library` -> `Manage Libraries...`.
 2. Search for `Cytron Motor Drivers Library`.

examples/PWM_DIR/PWM_DIR.ino

@@ -11,12 +11,21 @@
  * For dual channel motor driver, both channel work the same way.
  * 
  * 
- * CONNECTIONS:
+ * CONNECTIONS: Arduino Uno
  * 
  * Arduino D3  - Motor Driver PWM Input
  * Arduino D4  - Motor Driver DIR Input
  * Arduino GND - Motor Driver GND
+ * 
+ * CONNECTIONS: ESP32
+ * 
+ * ESP32 D2  - Motor Driver PWM Input
+ * ESP32 D4  - Motor Driver DIR Input
+ * ESP32 GND - Motor Driver GND
  *
+ * NOTE: 
+ * 1. Default value for channel is 0.
+ * 2. Different channels (0 - 15) should be assigned for every CytronMD instance.
  *
  * AUTHOR   : Kong Wai Weng
  * COMPANY  : Cytron Technologies Sdn Bhd
@@ -29,7 +38,7 @@
 
 
 // Configure the motor driver.
-CytronMD motor(PWM_DIR, 3, 4);  // PWM = Pin 3, DIR = Pin 4.
+CytronMD motor(PWM_DIR, 2, 4, 0);  // PWM = Pin 2, DIR = Pin 4, CHANNEL = 0.
 
 
 // The setup routine runs once when you press reset.

examples/PWM_DIR_DUAL/PWM_DIR_DUAL.ino

@@ -10,14 +10,25 @@
  * 2-channel motor driver.
  * 
  * 
- * CONNECTIONS:
+ * CONNECTIONS: Arduino Uno
  * 
  * Arduino D3  - Motor Driver PWM 1 Input
  * Arduino D4  - Motor Driver DIR 1 Input
  * Arduino D9  - Motor Driver PWM 2 Input
  * Arduino D10 - Motor Driver DIR 2 Input
  * Arduino GND - Motor Driver GND
  *
+ * CONNECTIONS: ESP32
+ * 
+ * Arduino D2  - Motor Driver PWM 1 Input
+ * Arduino D4  - Motor Driver DIR 1 Input
+ * Arduino D18 - Motor Driver PWM 2 Input
+ * Arduino D19 - Motor Driver DIR 2 Input
+ * ESP32 GND - Motor Driver GND
+ * 
+ * NOTE: 
+ * 1. Default value for channel is 0.
+ * 2. Different channels (0 - 15) should be assigned for every CytronMD instance.
  *
  * AUTHOR   : Kong Wai Weng
  * COMPANY  : Cytron Technologies Sdn Bhd
@@ -30,8 +41,8 @@
 
 
 // Configure the motor driver.
-CytronMD motor1(PWM_DIR, 3, 4);  // PWM 1 = Pin 3, DIR 1 = Pin 4.
-CytronMD motor2(PWM_DIR, 9, 10); // PWM 2 = Pin 9, DIR 2 = Pin 10.
+CytronMD motor1(PWM_DIR, 2, 4, 0);  // PWM 1 = Pin 3, DIR 1 = Pin 4, CHANNEL = 0
+CytronMD motor2(PWM_DIR, 18, 19, 1); // PWM 2 = Pin 9, DIR 2 = Pin 10, CHANNEL = 1
 
 
 // The setup routine runs once when you press reset.