Revision 1543
Added a bunch of debug prints to the library
| motor.c | ||
|---|---|---|
| 56 | 56 |
**/ |
| 57 | 57 |
int motors_init( void ) {
|
| 58 | 58 |
|
| 59 |
if(motors_initd) |
|
| 59 |
if(motors_initd) {
|
|
| 60 |
DRAGONFLY_DEBUG_PRINT("ERROR: motors already init'd\r\n");
|
|
| 60 | 61 |
return ERROR_INIT_ALREADY_INITD; |
| 62 |
} |
|
| 61 | 63 |
|
| 62 | 64 |
|
| 63 | 65 |
// Configure counter such that we use phase correct |
| ... | ... | |
| 92 | 94 |
* @see motor_r_set, motors_init |
| 93 | 95 |
**/ |
| 94 | 96 |
int motor_l_set(int direction, int speed) {
|
| 95 |
if(!motors_initd) |
|
| 97 |
if(!motors_initd) {
|
|
| 98 |
DRAGONFLY_DEBUG_PRINT("ERROR: motors not init'd\r\n");
|
|
| 96 | 99 |
return ERROR_LIBRARY_NOT_INITD; |
| 100 |
} |
|
| 97 | 101 |
|
| 98 | 102 |
if(direction == 0) {
|
| 99 | 103 |
// turn off PWM first if switching directions |
| ... | ... | |
| 131 | 135 |
* @see motor_l_set, motors_init |
| 132 | 136 |
**/ |
| 133 | 137 |
int motor_r_set(int direction, int speed) {
|
| 134 |
if(!motors_initd) |
|
| 138 |
if(!motors_initd) {
|
|
| 139 |
DRAGONFLY_DEBUG_PRINT("ERROR: encoders not init'd\r\n");
|
|
| 135 | 140 |
return ERROR_LIBRARY_NOT_INITD; |
| 141 |
} |
|
| 136 | 142 |
|
| 137 | 143 |
if(direction == 0) {
|
| 138 | 144 |
// PORTD |= 0x20; |
| ... | ... | |
| 198 | 204 |
* @see motors_init |
| 199 | 205 |
**/ |
| 200 | 206 |
int motors_off( void ) {
|
| 201 |
if(!motors_initd) |
|
| 207 |
if(!motors_initd) {
|
|
| 208 |
DRAGONFLY_DEBUG_PRINT("ERROR: encoders not init'd\r\n");
|
|
| 202 | 209 |
return ERROR_LIBRARY_NOT_INITD; |
| 210 |
} |
|
| 203 | 211 |
|
| 204 | 212 |
OCR1AL = 0x0; |
| 205 | 213 |
OCR1BL = 0x0; |
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