Revision 1291
Fixed left/right (for real this time)
| hardware_dynamos.c | ||
|---|---|---|
| 32 | 32 |
uint8_t temp = PINE; |
| 33 | 33 |
|
| 34 | 34 |
if(((temp&_BV(PE4))>>2)^(temp&_BV(PE2))) |
| 35 |
count_l--;
|
|
| 35 |
count_r--;
|
|
| 36 | 36 |
else |
| 37 |
count_l++;
|
|
| 37 |
count_r++;
|
|
| 38 | 38 |
} |
| 39 | 39 |
|
| 40 | 40 |
ISR(INT5_vect) |
| ... | ... | |
| 42 | 42 |
uint8_t temp = PINE; |
| 43 | 43 |
|
| 44 | 44 |
if(((temp&_BV(PE5))>>2)^(temp&_BV(PE3))) |
| 45 |
count_r++;
|
|
| 45 |
count_l++;
|
|
| 46 | 46 |
else |
| 47 |
count_r--;
|
|
| 47 |
count_l--;
|
|
| 48 | 48 |
} |
| 49 | 49 |
|
| 50 | 50 |
|
| 51 |
void dynamos_read (int16_t *right, int16_t *left)
|
|
| 51 |
void dynamos_read (int16_t *left, int16_t *right)
|
|
| 52 | 52 |
{
|
| 53 | 53 |
SYNC |
| 54 | 54 |
{
|
| 55 |
*right= count_l;
|
|
| 56 |
*left = count_r;
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|
| 55 |
*left= count_l;
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|
| 56 |
*right = count_r;
|
|
| 57 | 57 |
} |
| 58 | 58 |
} |
| 59 | 59 |
|
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