Revision 1412
motor 1 and motor 2 changed to motor L and motor R
trunk/code/projects/libdragonfly/motor.c | ||
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68 | 68 |
} |
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/** |
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* Sets the speed and direction of motor1.
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* Sets the speed and direction of the left motor.
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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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* @see motor_r_set, motors_init
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**/ |
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void motor1_set(int direction, int speed) {
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void motor_l_set(int direction, int speed) {
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if(direction == 0) { |
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// turn off PWM first if switching directions |
... | ... | |
101 | 101 |
} |
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/** |
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* Sets the speed and direction of motor2.
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* Sets the speed and direction of the right motor.
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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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* @see motor_l_set, motors_init
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**/ |
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void motor2_set(int direction, int speed) {
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void motor_r_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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} |
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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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motor_l_set(direction, 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 motor2_set, motors_init |
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**/ |
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void motor2_set(int direction, int speed) { |
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motor_r_set(direction, 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 |
trunk/code/projects/libdragonfly/motor.h | ||
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51 | 51 |
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/** @brief Initialize the motors **/ |
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void motors_init(void); |
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/** @brief Set speed and direction of motor1 **/ |
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/** @brief Set speed and direction of motor1 |
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* @deprecated use the left motor function instead. it's more intuitive and easier to read.**/ |
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void motor1_set(int direction, int speed); |
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/** @brief Set speed and direction of motor2 **/ |
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/** @brief Set speed and direction of motor2 |
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* @deprecated use the right motor function instead. it's more intuitive and easier to read.**/ |
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void motor2_set(int direction, int speed); |
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/** @brief Set speed and direction of left motor **/ |
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void motor_l_set(int direction, int speed); |
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/** @brief Set speed and direction of right motor **/ |
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void motor_r_set(int direction, int speed); |
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/** @brief Turn the motors off **/ |
59 | 65 |
void motors_off(void); |
60 | 66 |
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