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root / trunk / code / projects / colonet / utilities / robot_slave / motor.c @ 13

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/*
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        motor.c - Contains functions necessary for activating and driving the 
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        H-bridge
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        author: Robotics Club, Colony project
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        much of this is taken from FWR's library, author: Tom Lauwers
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*/
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#include "motor.h"
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/*
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motor initialization
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initializes both motors
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*/
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void motors_init( void ) {
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        // Configure counter such that we use phase correct
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        // PWM with 8-bit resolution
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        PORTA &= 0x0F;
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        DDRA |= 0xF0;
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        DDRB |= 0x60;
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        //timer 1A and 1B
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        TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM10);
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        TCCR1B = _BV(WGM12) | _BV(CS10);
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//        TCCR1A = 0xA1;
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//        TCCR1B = 0x04;
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        OCR1AH=0;
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        OCR1AL=0;
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        OCR1BH=0;
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        OCR1BL=0;
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}
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// The following functions set the motor direction and speed
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void motor1_set(int direction, int speed) {
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        if(direction == 0) {
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            // turn off PWM first if switching directions
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                if((PORTA & 0x30) != 0x10)
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                {
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                  OCR1A = 0;
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                }        
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                PORTA = (PORTA & 0xCF) | 0x10;
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//                PORTD |= 0x10;
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//                PORTD &= 0xBF;
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        }
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        else {
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            // turn off PWM first if switching directions
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                if((PORTA & 0x30) != 0x20)
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                {
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                  OCR1A = 0;
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                }
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                PORTA = (PORTA & 0xCF) | 0x20;
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//                PORTD |= 0x40;
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//                PORTD &= 0xEF;
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        }
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        // Set the timer to count up to speed, an 8-bit value
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        OCR1AL = speed;
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}
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void motor2_set(int direction, int speed) {
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        if(direction == 0) {
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//                PORTD |= 0x20;
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//                PORTD &= 0x7F;
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            // turn off PWM first if switching directions
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                if((PORTA & 0xC0) != 0x80)
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                {
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                  OCR1B = 0;
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                }                
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                PORTA = (PORTA & 0x3F) | 0x80;
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        }
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        else {
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//                PORTD |= 0x80;
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//                PORTD &= 0xDF;
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            // turn off PWM first if switching directions
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                if((PORTA & 0xC0) != 0x40)
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                {
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                  OCR1B = 0;
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                }                
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                PORTA = (PORTA & 0x3F) | 0x40;
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        }
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        OCR1BL = speed;
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}
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// Just turns off both motors
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void motors_off( void ) {
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        OCR1AL = 0x0;
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        OCR1BL = 0x0;
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}