XanMouse/Testing Code at master · adiaz2/XanMouse · GitHub

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#include <Wire.h>
#include <SPI.h>
#include <math.h>
#include <Adafruit_LSM9DS1.h>
#include <Adafruit_Sensor.h>  // not used in this demo but required!
#include <digitalWriteFast.h>


  int D1=6;     //H Bridge Outputs
  int D2=7;
  int D3=8;
  int D4=12;

  //Motor
  int LEnable=9;  //Digital pin 9
  int REnable=10; //Digital pin 10


  //Encoders
  int LEA=2;     //Left Encoder A
  int LEB=4;     //Left Encoder B
  int REA=3;     //Right Encode A
  int REB=5;     //Right Encode B
  int VPL= 0;    //Virtual Position Left
  int VPR= 0;    //Virtual Postion Right
  int Master= 180;
  int Slave= 180;
  int error=0;
  int kp=1;


void setup() {
  // put your setup code here, to run once:
  attachInterrupt(digitalPinToInterrupt(LEA), isl, RISING);
  attachInterrupt(digitalPinToInterrupt(REA), isr, RISING);
  Serial.begin(9600);

  FW();

}

void loop() {
  // put your main code here, to run repeatedly:

  Serial.print("Left");
  Serial.print("\n");
  Serial.print(VPL);
  Serial.print("\n");

  Serial.print("Right");
  Serial.print("\n");
  Serial.print(VPR);
  Serial.print("\n");


// Serial.print("Master");
// Serial.print("\n");
// Serial.print(Master);
// Serial.print("\n");
//
//Serial.print("Slave");
//Serial.print("\n");
//Serial.print(Slave);
//Serial.print("\n");
//
//Serial.print("error");
//Serial.print("\n");
//Serial.print(error);
//Serial.print("\n");
//
//Serial.print("\n");
//
  error= VPL-VPR;
  Slave += error/kp;
  if (Slave>255)
  {
    Slave=255;
  }
  if (Slave<25)
  {
    Slave=25;
  }

//  VPL=0;
//  VPR=0;
 analogWrite(LEnable, Master);
 analogWrite(REnable, Slave);

    delay(10);
}


void isl()                                        //Left Encoder
{
  if (digitalReadFast(LEB)== HIGH)
  {
    VPL++;
  }
  else
  {
    VPL--;
  }
}

void isr()                                        //Left Encoder
{
  if (digitalReadFast(REB)== LOW)
  {
    VPR++;
  }
  else
  {
    VPR--;
  }
 }

void FW() //Foward
{
  LCW();
  RCW();

}
void BW() //Backwards
{
  LCCW();
  RCCW();
}
void STP() //Stop
{
  LSTP();
  RSTP();
}

//Wheel Functions

//Left Functions
void LCW()               //Left Clock Wise
{
  digitalWrite(D1, LOW);
  digitalWrite(D2, HIGH);
}
void LCCW()              //Left Counter Clock Wise
{
  digitalWrite(D1, HIGH);
  digitalWrite(D2, LOW);
}
void LSTP()              //Left Stop
{
  digitalWrite(D1, LOW);
  digitalWrite(D2, LOW);
}


//Right Functions
void RCW()              //Right Clock Wise
{
  digitalWrite(D3, HIGH);
  digitalWrite(D4, LOW);
}
void RCCW()             //Right Counter Clock Wise
{
  digitalWrite(D3, LOW);
  digitalWrite(D4, HIGH);
}
void RSTP()             //Right Stop
{
  digitalWrite(D3, LOW);
  digitalWrite(D4, LOW);
}