Philips-Ble-Robot-Code/kladblok.txt at main · dotsem/Philips-Ble-Robot-Code · GitHub

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ShiftRegisterDriver(enable, latch, clock, sin):
    void ShiftData(uint8_t data)
    void ShiftData(bool data)
    void EnableOutput()
    void DisableOutput()

PwmDriver(config config, GpioPin& pin):
    void SetDutyCycle(uint8_t dutyCycle)

MotorShieldControllerDc(ShiftRegisterDriver& shiftRegister, PwmDriver& pwmM1, PwmDriver& pwmM2, PwmDriver& pwmM3, PwmDriver& pwmM4 )
    void SetDirection(Motor motor, Direction direction)
    void SetSpeed(Motor motor, Percentage percentage)

CarController(MotorShieldControllerDc motorShield)
    DriveForwards()

SystemTransportLayer -> SystemTransportLayerWithBondPercistence
Create new GapSt specific for our use case
GattSt can be reused


#define MOTOR4_A 0 0
#define MOTOR2_A 1 0
#define MOTOR1_A 2 0
#define MOTOR1_B 3 0
#define MOTOR2_B 4 0
#define MOTOR3_A 5 0
#define MOTOR4_B 6 1
#define MOTOR3_B 7 1

11000000 = motor a en b draaien naar links


Service Control:
    Characterisitc: Speed left
        write
    Characterisitc: Speed right
        write
    Characterisitc: Direction left
        write
    Characterisitc: Direction right
        write
    Characterisitc: Stop
        write
    Characterisitc: ack
        notify