Revision 1345
Final spline code for master/slave
updated outdated libdragonfly and libwireless
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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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/** |
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* Copyright (c) 2007 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* files (the "Software"), to deal in the Software without |
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* restriction, including without limitation the rights to use, |
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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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**/ |
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/** |
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* @file motor.c |
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* @brief Motors |
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* |
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* Implementation of functions for controlling the motors. |
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* |
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* @author Colony Project, CMU Robotics Club |
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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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* @see motors_off, motor1_set, motor2_set |
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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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// 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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//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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/** |
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**/ |
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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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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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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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} else {
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// turn off PWM first if switching directions |
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if((PORTA & 0x30) != 0x20) {
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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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// 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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/** |
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* @see motor1_set, motors_init |
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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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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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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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PORTA = (PORTA & 0x3F) | 0x80; |
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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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// turn off PWM first if switching directions |
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if((PORTA & 0xC0) != 0x40) {
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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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PORTA = (PORTA & 0x3F) | 0x40;
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}
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OCR1BL = speed;
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} |
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/** |
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* @see motors_init |
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**/ |
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void motors_off( void ) {
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OCR1AL = 0x0;
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OCR1BL = 0x0;
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OCR1AL = 0x0;
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OCR1BL = 0x0;
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} |
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/**@}**///end defgroup |
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