MotorSpeedTest.ino

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#include <RBE1001Lib.h>

LeftMotor left_motor;
LeftMotor right_motor;

/*
 * 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);
}

/*
 * The main loop for the program. The loop function is repeatedly called
 * once the ESP32 is started.
 */
void loop()
{
    float speed = 360 * sin(2 * 3.14 * (millis() % 10000) / 10000.);
    left_motor.setSpeed(speed);
    right_motor.setSpeed(speed);

    Serial.print("SP: ");
    Serial.print(speed);
    Serial.print('\t');

    Serial.print("L: ");
    Serial.print(left_motor.getDegreesPerSecond());
    Serial.print('\t');

    Serial.print("E: ");
    Serial.print(left_motor.getEffortPercent());
    Serial.print('\n');

    delay(100);
}