MotorMoveTo.ino

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/*
 * This program will wait for the button to be pressed and then command the left motor to 
 * spin one rotation at 120 rpm. 
 * 
 * While the motor is spinning, the program will print out how much it has turned (in degrees).
 */

#include <RBE1001Lib.h>

LeftMotor motor_left;
RightMotor motor_right;

// pin definitions https://wpiroboticsengineering.github.io/RBE1001Lib/RBE1001Lib_8h.html#define-members
const int buttonPin = BOOT_FLAG_PIN;

/*
 * This is the standard setup function that is called when the ESP32 is rebooted
 * It is used to initialize anything that needs to be done once.
 */
void setup()
{
  // This will initialize the Serial as 115200 for prints
  Serial.begin(115200);

  //explicitly make the button pin an input and engage the internal pullup resistor
  pinMode(buttonPin, INPUT_PULLUP);
}

/*
 * The main loop for the program. The loop function is repeatedly called
 * once the ESP32 is started.
 */
void loop()
{
  //The following line will cause the program to wait indefinitely until the button is pressed
  //It'll print out motor data while it waits
  while (digitalRead(buttonPin))
  {
    Serial.print(motor_left.getCurrentDegrees());  //motor1 position
    Serial.print('\t');                            //TAB character
    Serial.print(motor_right.getCurrentDegrees()); //motor2 position
    Serial.print('\n');                            //newline character
  }

  motor_left.moveTo(360, 120); //spin once at 120 degrees per second

  Serial.print(motor_left.getCurrentDegrees());  //motor1 position
  Serial.print('\t');                            //TAB character
  Serial.print(motor_right.getCurrentDegrees()); //motor2 position
  Serial.print('\n');                            //newline character

  delay(50);
}