Revision 1412
motor 1 and motor 2 changed to motor L and motor R
| motor.c | ||
|---|---|---|
| 68 | 68 |
} |
| 69 | 69 |
|
| 70 | 70 |
/** |
| 71 |
* Sets the speed and direction of motor1.
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* Sets the speed and direction of the left motor.
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|
| 72 | 72 |
* motors_init must be called before this function can be used. |
| 73 | 73 |
* |
| 74 | 74 |
* @param direction Either FORWARD or BACKWARD to set the direction of rotation. |
| 75 | 75 |
* @param speed The speed the motor will run at, in the range 0-255. |
| 76 | 76 |
* |
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* @see motor2_set, motors_init
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* @see motor_r_set, motors_init
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|
| 78 | 78 |
**/ |
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void motor1_set(int direction, int speed) {
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| 79 |
void motor_l_set(int direction, int speed) {
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| 80 | 80 |
|
| 81 | 81 |
if(direction == 0) {
|
| 82 | 82 |
// turn off PWM first if switching directions |
| ... | ... | |
| 101 | 101 |
} |
| 102 | 102 |
|
| 103 | 103 |
/** |
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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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|
| 105 | 105 |
* motors_init must be called before this function can be used. |
| 106 | 106 |
* |
| 107 | 107 |
* @param direction Either FORWARD or BACKWARD to set the direction of rotation. |
| 108 | 108 |
* @param speed The speed the motor will run at, in the range 0-255. |
| 109 | 109 |
* |
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* @see motor1_set, motors_init
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* @see motor_l_set, motors_init
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|
| 111 | 111 |
**/ |
| 112 |
void motor2_set(int direction, int speed) {
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void motor_r_set(int direction, int speed) {
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| 113 | 113 |
if(direction == 0) {
|
| 114 | 114 |
// PORTD |= 0x20; |
| 115 | 115 |
// PORTD &= 0x7F; |
| ... | ... | |
| 134 | 134 |
} |
| 135 | 135 |
|
| 136 | 136 |
/** |
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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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/** |
|
| 137 | 164 |
* Turns off both motors. |
| 138 | 165 |
* |
| 139 | 166 |
* @see motors_init |
Also available in: Unified diff