switch_controlled_motor_normal

About the Project

Motor Driver Modes
- The SRA board has 2x TB6612FNG motor drivers which allow a maximum of 4 motors to be controlled. This motor driver is characterized by its operation in two modes - Normal mode and Parallel mode, switch_controlled_motor_normal deals with normal mode approach:
  1. Normal Mode
  - As discussed earlier, the new design has two motor drivers. Each TB6612FNG can control two motors. Therefore, using two motor driver one can control 4 motors using 8 GPIO's of ESP32.
  - E.g.: If pin 32 is HIGH(IN1 = HIGH) and pin 33 is low(IN2 = LOW) then motor 1 moves in the forward direction.
  - For motor 1 connected to TB 1:
    
    33\32 High Low
    
    High Move motor forward Move Motor Forward
    
    Low Move motor Backward Stop Motor
  The above table gives a clear idea about how the switch_motor_normal algorithm functions.
  - So in normal mode, 4 motors can be connected to the board, with a per channel/motor current capacity of 1.2A.
Working
- Activates GPIO swtiches to take input from LSA
- Activates one of the two TB6612FNG drivers
- takes input from LSA
- runs the bot motors in Normal mode according to the input.

33\32	High	Low
High	Move motor forward	Move Motor Forward
Low	Move motor Backward	Stop Motor