root / branches / library_refactor / projects / colonet / server / manual_control / manualControlRobot / move.c @ 1390
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//Created 4/30/06 by James Kong
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#include "firefly+_lib.h" |
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//#include "pindefs_ff.h"
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#include "move.h" |
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/*
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Move and turn functions are overloaded so they can be called with or without the speed or time parameters.
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If called wihtout parameters, the defaults will be used.
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*/
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//Forward
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void moveForward(void) { |
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motor1_set(FWD, NRML_SPD); |
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motor2_set(FWD, NRML_SPD); |
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delay_ms(DELAY_F); |
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} |
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/*void moveForward(int speed) {
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motor1_set(FWD, speed);
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motor2_set(FWD, speed);
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delay_ms(DELAY_F);
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}
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void moveForward(int speed, int time) {
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motor1_set(FWD, speed);
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motor2_set(FWD, speed);
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delay_ms(time);
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}
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*/
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//Back
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void moveBack(void) { |
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motor1_set(BCK, HALF_SPD); |
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motor2_set(BCK, HALF_SPD); |
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delay_ms(DELAY_B); |
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} |
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/*
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void moveBack(int speed) {
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motor1_set(BCK, speed);
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motor2_set(BCK, speed);
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delay_ms(DELAY_B);
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}
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void moveBack(int speed, int time) {
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motor1_set(BCK, speed);
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motor2_set(BCK, speed);
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delay_ms(time);
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}
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*/
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//Turn Left
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void turnLeft(void) { |
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motor1_set(FWD, NRML_TURN); |
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motor2_set(BCK, NRML_TURN); |
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delay_ms(DELAY_L); |
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} |
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/*
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void turnLeft(int speed) {
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motor1_set(FWD, speed);
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motor2_set(BCK, speed);
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delay_ms(DELAY_L);
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}
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void turnLeft(int speed, int time) {
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motor1_set(FWD, speed);
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motor2_set(BCK, speed);
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delay_ms(time);
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}
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*/
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//Turn Right
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void turnRight(void) { |
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motor1_set(BCK, NRML_TURN); |
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motor2_set(FWD, NRML_TURN); |
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delay_ms(DELAY_R); |
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} |
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/*
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void turnRight(int speed) {
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motor1_set(BCK, speed);
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motor2_set(FWD, speed);
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delay_ms(DELAY_R);
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}
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void turnRight(int speed, int time) {
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motor1_set(BCK, speed);
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motor2_set(FWD, speed);
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delay_ms(time);
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}*/
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