root / branches / encoders / code / lib / src / libdragonfly / motor.c @ 1345
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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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* @defgroup motors Motors
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* @brief Functions for controlling the motors.
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* Functions for controlling the motors. Found in motor.h.
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* @{
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**/
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/**
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* Initializes both motors so that they can be used with future
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* calls to motor1_set and motor2_set.
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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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//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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* Sets the speed and direction of motor1.
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* motors_init must be called before this function can be used.
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*
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* @param direction Either FORWARD or BACKWARD to set the direction of rotation.
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* @param speed The speed the motor will run at, in the range 0-255.
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*
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* @see motor2_set, motors_init
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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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// 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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* Sets the speed and direction of motor2.
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* motors_init must be called before this function can be used.
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*
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* @param direction Either FORWARD or BACKWARD to set the direction of rotation.
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* @param speed The speed the motor will run at, in the range 0-255.
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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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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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/**
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* Turns off both motors.
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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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} |
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/**@}**///end defgroup |
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