root / branches / library_refactor / projects / colonet / server / manual_control / manualControlRobot / move.c @ 1390
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1 | 13 | emarinel | //Created 4/30/06 by James Kong
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3 | #include "firefly+_lib.h" |
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4 | //#include "pindefs_ff.h"
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5 | #include "move.h" |
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6 | |||
7 | /*
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8 | Move and turn functions are overloaded so they can be called with or without the speed or time parameters.
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9 | If called wihtout parameters, the defaults will be used.
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10 | */
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11 | |||
12 | //Forward
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13 | void moveForward(void) { |
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14 | motor1_set(FWD, NRML_SPD); |
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15 | motor2_set(FWD, NRML_SPD); |
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16 | delay_ms(DELAY_F); |
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17 | } |
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18 | |||
19 | /*void moveForward(int speed) {
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20 | motor1_set(FWD, speed);
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21 | motor2_set(FWD, speed);
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22 | delay_ms(DELAY_F);
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23 | }
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24 | |||
25 | void moveForward(int speed, int time) {
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26 | motor1_set(FWD, speed);
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27 | motor2_set(FWD, speed);
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28 | delay_ms(time);
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29 | }
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30 | */
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31 | //Back
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32 | void moveBack(void) { |
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33 | motor1_set(BCK, HALF_SPD); |
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34 | motor2_set(BCK, HALF_SPD); |
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35 | delay_ms(DELAY_B); |
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36 | } |
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37 | /*
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38 | void moveBack(int speed) {
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39 | motor1_set(BCK, speed);
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40 | motor2_set(BCK, speed);
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41 | delay_ms(DELAY_B);
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42 | }
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43 | |||
44 | void moveBack(int speed, int time) {
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45 | motor1_set(BCK, speed);
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46 | motor2_set(BCK, speed);
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47 | delay_ms(time);
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48 | }
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49 | */
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50 | //Turn Left
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51 | void turnLeft(void) { |
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52 | motor1_set(FWD, NRML_TURN); |
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53 | motor2_set(BCK, NRML_TURN); |
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54 | delay_ms(DELAY_L); |
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55 | } |
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56 | /*
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57 | void turnLeft(int speed) {
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58 | motor1_set(FWD, speed);
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59 | motor2_set(BCK, speed);
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60 | delay_ms(DELAY_L);
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61 | }
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62 | |||
63 | void turnLeft(int speed, int time) {
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64 | motor1_set(FWD, speed);
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65 | motor2_set(BCK, speed);
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66 | delay_ms(time);
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67 | }
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68 | */
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69 | //Turn Right
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70 | void turnRight(void) { |
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71 | motor1_set(BCK, NRML_TURN); |
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72 | motor2_set(FWD, NRML_TURN); |
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73 | delay_ms(DELAY_R); |
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74 | } |
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75 | /*
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76 | void turnRight(int speed) {
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77 | motor1_set(BCK, speed);
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78 | motor2_set(FWD, speed);
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79 | delay_ms(DELAY_R);
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80 | }
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81 | |||
82 | void turnRight(int speed, int time) {
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83 | motor1_set(BCK, speed);
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84 | motor2_set(FWD, speed);
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85 | delay_ms(time);
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86 | }*/ |