root / paintboard / code / motor.c @ 1226c007
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1 | 1226c007 | AnsonLinux | #include <avr/io.h> |
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2 | #include "motor.h" |
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3 | #include <stdlib.h> |
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4 | |||
5 | /*
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6 | |||
7 | motor controller. Timer2 is set to phase-correct PWM mode, with 32 prescaler.
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8 | |||
9 | AIN1: PC0
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10 | AIN2: PC1
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11 | PWMA: PB3 (Timer2) (OCRA)
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12 | |||
13 | BIN1: PC2
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14 | BIN2: PC3
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15 | PWMB: PD3 (Timer2) (OCRB)
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16 | |||
17 | */
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18 | |||
19 | int8_t motor1_speed; |
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20 | int8_t motor2_speed; |
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21 | |||
22 | void motor_init(void) |
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23 | { |
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24 | |||
25 | // WGM2 0b001 (phase-correct PWM, 8-bit)
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26 | // COM2A 0b10 (clear OCR2A on compare match, set on BOTTOM)
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27 | // COM2B 0b10 (clear OCR2B on compare match, set on BOTTOM)
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28 | // CS2 0b011 (32 prescaler)
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29 | TCCR2A = _BV(WGM20) | _BV(COM2A1) |_BV(COM2B1); |
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30 | TCCR2B = _BV(CS21) | _BV(CS20); |
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31 | OCR2A = 0;
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32 | OCR2B = 0;
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33 | |||
34 | // set output pins
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35 | DDRC |= _BV(PC0) | _BV(PC1) | _BV(PC2) | _BV(PC3); |
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36 | DDRB |= _BV(PB3); |
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37 | DDRD |= _BV(PD3); |
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38 | |||
39 | set_motor1(0);
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40 | set_motor2(0);
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41 | } |
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42 | |||
43 | void set_motor1(int8_t speed)
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44 | /* Speed must be between -127 and 127 */
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45 | { |
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46 | motor1_speed = speed; |
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47 | OCR2A = (uint8_t)abs(speed)*2;
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48 | if(speed>0) //go forwards |
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49 | { |
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50 | PORTC |= (1<<PC0);
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51 | PORTC = PORTC & ~(1<<PC1);
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52 | } |
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53 | if(speed<0) //go backwards |
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54 | { |
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55 | PORTC |= (1<<PC1);
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56 | PORTC = PORTC & ~(1<<PC0);
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57 | } |
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58 | if(speed==0) // turn motor off |
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59 | { |
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60 | PORTC = PORTC & ~(1<<PC1);
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61 | PORTC = PORTC & ~(1<<PC0);
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62 | } |
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63 | } |
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64 | |||
65 | void set_motor2(int8_t speed)
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66 | /* Speed must be between -127 and 127 */
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67 | { |
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68 | motor2_speed = speed; |
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69 | OCR2B = (uint8_t)abs(speed)*2;
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70 | if(speed>0) //go forwards |
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71 | { |
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72 | PORTC |= (1<<PC2);
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73 | PORTC = PORTC & ~(1<<PC3);
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74 | } |
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75 | if(speed<0) //go backwards |
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76 | { |
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77 | PORTC |= (1<<PC3);
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78 | PORTC = PORTC & ~(1<<PC2);
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79 | } |
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80 | if(speed==0) // turn motor off |
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81 | { |
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82 | PORTC = PORTC & ~(1<<PC3);
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83 | PORTC = PORTC & ~(1<<PC2);
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84 | } |
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85 | } |
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86 | |||
87 | int8_t get_motor1() |
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88 | { |
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89 | return motor1_speed;
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90 | } |
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91 | |||
92 | int8_t get_motor2() |
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93 | { |
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94 | return motor2_speed;
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95 | } |