/trunk/code/projects/libdragonfly/motor.c - Diff - Colony - Robotics Club

Revision 1496

Reverted "libdragonfly" folder back to version before Init Checking was implemented and did "make dist" to recompile the library. BOM LEDs now shine
correctly.

      * Much of this is taken from FWR's library, author: Tom Lauwers
      **/
     #include "dragonfly_defs.h"
     #include "motor.h"
     /**
-...
      * @{
      **/
     unsigned char motors_initd=0;
     /**
      * Initializes both motors so that they can be used with future
      * calls to motor1_set and motor2_set.
+     *
      * @return 0 if init succesfull, an error code otherwise
+     *
      * @see motors_off, motor1_set, motor2_set
      **/
     int motors_init( void ) {
       if(motors_initd)
         return ERROR_INIT_ALREADY_INITD;
     void motors_init( void ) {
       // Configure counter such that we use phase correct
       // PWM with 8-bit resolution
       PORTA &= 0x0F;
-...
       OCR1AL=0;
       OCR1BH=0;
       OCR1BL=0;
       motors_initd=1;
       return 0;
+    }
     /**
-...
      * @param direction Either FORWARD or BACKWARD to set the direction of rotation.
      * @param speed The speed the motor will run at, in the range 0-255.
+     *
      * @return 0 if init succesfull, an error code otherwise
+     *
      * @see motor_r_set, motors_init
      **/
     int motor_l_set(int direction, int speed) {
       if(!motors_initd)
         return ERROR_LIBRARY_NOT_INITD;
     void motor_l_set(int direction, int speed) {
       if(direction == 0) {
         // turn off PWM first if switching directions
-...
       // Set the timer to count up to speed, an 8-bit value
       OCR1AL = speed;
       return 0;
+    }
     /**
-...
      * @param direction Either FORWARD or BACKWARD to set the direction of rotation.
      * @param speed The speed the motor will run at, in the range 0-255.
+     *
      * @return 0 if init succesfull, an error code otherwise
+     *
      * @see motor_l_set, motors_init
      **/
     int motor_r_set(int direction, int speed) {
       if(!motors_initd)
         return ERROR_LIBRARY_NOT_INITD;
     void motor_r_set(int direction, int speed) {
       if(direction == 0) {
         //		PORTD |= 0x20;
         //		PORTD &= 0x7F;
-...
         PORTA = (PORTA & 0x3F) | 0x40;
+      }
       OCR1BL = speed;
       return 0;
+    }
     /**
-...
      * @param direction Either FORWARD or BACKWARD to set the direction of rotation.
      * @param speed The speed the motor will run at, in the range 0-255.
+     *
      * @return 0 if init succesfull, an error code otherwise
+     *
      * @see motor2_set, motors_init
      **/
     int motor1_set(int direction, int speed) {
       return motor_l_set(direction, speed);
     void motor1_set(int direction, int speed) {
     	motor_l_set(direction, speed);
+    }
     /**
-...
      * @param direction Either FORWARD or BACKWARD to set the direction of rotation.
      * @param speed The speed the motor will run at, in the range 0-255.
+     *
      * @return 0 if init succesfull, an error code otherwise
+     *
      * @see motor2_set, motors_init
      **/
     int motor2_set(int direction, int speed) {
       return motor_r_set(direction, speed);
     void motor2_set(int direction, int speed) {
     	motor_r_set(direction, speed);
+    }
     /**
      * Turns off both motors.
+     *
      * @return 0 if init succesfull, an error code otherwise
+     *
      * @see motors_init
      **/
     int motors_off( void ) {
       if(!motors_initd)
         return ERROR_LIBRARY_NOT_INITD;
     void motors_off( void ) {
       OCR1AL = 0x0;
       OCR1BL = 0x0;
       return 0;
+    }
     /**@}**///end defgroup

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Revision 1496