root / branches / autonomous_recharging / code / projects / libdragonfly / motor.c @ 1390
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1 | 322 | bcoltin | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | 8 | bcoltin | |
26 | 322 | bcoltin | |
27 | /**
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28 | * @file motor.c
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29 | * @brief Motors
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30 | *
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31 | * Implementation of functions for controlling the motors.
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32 | *
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33 | * @author Colony Project, CMU Robotics Club
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34 | * Much of this is taken from FWR's library, author: Tom Lauwers
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35 | **/
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36 | |||
37 | 8 | bcoltin | #include "motor.h" |
38 | |||
39 | /**
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40 | * @defgroup motors Motors
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41 | * @brief Functions for controlling the motors.
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42 | * Functions for controlling the motors. Found in motor.h.
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43 | * @{
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44 | **/
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45 | |||
46 | /**
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47 | * Initializes both motors so that they can be used with future
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48 | * calls to motor1_set and motor2_set.
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49 | *
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50 | * @see motors_off, motor1_set, motor2_set
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51 | **/
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52 | void motors_init( void ) { |
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53 | // Configure counter such that we use phase correct
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54 | // PWM with 8-bit resolution
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55 | PORTA &= 0x0F;
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56 | DDRA |= 0xF0;
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57 | DDRB |= 0x60;
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58 | |||
59 | //timer 1A and 1B
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60 | TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM10); |
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61 | TCCR1B = _BV(WGM12) | _BV(CS10); |
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62 | // TCCR1A = 0xA1;
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63 | // TCCR1B = 0x04;
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64 | OCR1AH=0;
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65 | OCR1AL=0;
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66 | OCR1BH=0;
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67 | OCR1BL=0;
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68 | } |
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69 | |||
70 | /**
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71 | * Sets the speed and direction of motor1.
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72 | * motors_init must be called before this function can be used.
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73 | *
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74 | * @param direction Either FORWARD or BACKWARD to set the direction of rotation.
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75 | * @param speed The speed the motor will run at, in the range 0-255.
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76 | *
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77 | * @see motor2_set, motors_init
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78 | **/
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79 | void motor1_set(int direction, int speed) { |
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80 | |||
81 | if(direction == 0) { |
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82 | // turn off PWM first if switching directions
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83 | if((PORTA & 0x30) != 0x10) |
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84 | { |
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85 | OCR1A = 0;
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86 | } |
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87 | PORTA = (PORTA & 0xCF) | 0x10; |
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88 | // PORTD |= 0x10;
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89 | // PORTD &= 0xBF;
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90 | } |
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91 | else {
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92 | // turn off PWM first if switching directions
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93 | if((PORTA & 0x30) != 0x20) |
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94 | { |
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95 | OCR1A = 0;
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96 | } |
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97 | PORTA = (PORTA & 0xCF) | 0x20; |
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98 | // PORTD |= 0x40;
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99 | // PORTD &= 0xEF;
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100 | } |
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101 | |||
102 | // Set the timer to count up to speed, an 8-bit value
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103 | OCR1AL = speed; |
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104 | } |
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105 | |||
106 | /**
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107 | * Sets the speed and direction of motor2.
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108 | * motors_init must be called before this function can be used.
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109 | *
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110 | * @param direction Either FORWARD or BACKWARD to set the direction of rotation.
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111 | * @param speed The speed the motor will run at, in the range 0-255.
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112 | *
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113 | * @see motor1_set, motors_init
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114 | **/
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115 | void motor2_set(int direction, int speed) { |
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116 | if(direction == 0) { |
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117 | // PORTD |= 0x20;
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118 | // PORTD &= 0x7F;
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119 | // turn off PWM first if switching directions
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120 | if((PORTA & 0xC0) != 0x80) |
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121 | { |
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122 | OCR1B = 0;
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123 | } |
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124 | |||
125 | PORTA = (PORTA & 0x3F) | 0x80; |
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126 | } |
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127 | else {
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128 | // PORTD |= 0x80;
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129 | // PORTD &= 0xDF;
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130 | |||
131 | // turn off PWM first if switching directions
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132 | if((PORTA & 0xC0) != 0x40) |
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133 | { |
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134 | OCR1B = 0;
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135 | } |
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136 | |||
137 | PORTA = (PORTA & 0x3F) | 0x40; |
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138 | } |
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139 | OCR1BL = speed; |
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140 | } |
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141 | |||
142 | /**
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143 | * Turns off both motors.
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144 | *
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145 | * @see motors_init
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146 | **/
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147 | void motors_off( void ) { |
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148 | OCR1AL = 0x0;
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149 | OCR1BL = 0x0;
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150 | } |
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151 | |||
152 | /**@}**///end defgroup |