Revision 380
fixed some style stuff
| motor.c | ||
|---|---|---|
| 50 | 50 |
* @see motors_off, motor1_set, motor2_set |
| 51 | 51 |
**/ |
| 52 | 52 |
void motors_init( void ) {
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// Configure counter such that we use phase correct
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// PWM with 8-bit resolution
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PORTA &= 0x0F;
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DDRA |= 0xF0;
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DDRB |= 0x60;
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// Configure counter such that we use phase correct
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// PWM with 8-bit resolution
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PORTA &= 0x0F;
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DDRA |= 0xF0;
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DDRB |= 0x60;
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| 58 | 58 |
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//timer 1A and 1B
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TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM10);
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TCCR1B = _BV(WGM12) | _BV(CS10);
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// TCCR1A = 0xA1; |
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// TCCR1B = 0x04; |
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OCR1AH=0;
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OCR1AL=0;
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OCR1BH=0;
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OCR1BL=0;
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//timer 1A and 1B
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TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM10);
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TCCR1B = _BV(WGM12) | _BV(CS10);
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// TCCR1A = 0xA1;
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// TCCR1B = 0x04;
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OCR1AH=0;
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OCR1AL=0;
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OCR1BH=0;
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OCR1BL=0;
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| 68 | 68 |
} |
| 69 | 69 |
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| 70 | 70 |
/** |
| ... | ... | |
| 78 | 78 |
**/ |
| 79 | 79 |
void motor1_set(int direction, int speed) {
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| 80 | 80 |
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if(direction == 0) {
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// turn off PWM first if switching directions |
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if((PORTA & 0x30) != 0x10) |
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{
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OCR1A = 0; |
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} |
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PORTA = (PORTA & 0xCF) | 0x10; |
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// PORTD |= 0x10; |
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// PORTD &= 0xBF; |
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} |
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else {
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// turn off PWM first if switching directions |
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if((PORTA & 0x30) != 0x20) |
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{
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OCR1A = 0; |
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} |
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PORTA = (PORTA & 0xCF) | 0x20; |
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// PORTD |= 0x40; |
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// PORTD &= 0xEF; |
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} |
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if(direction == 0) {
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// turn off PWM first if switching directions |
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if((PORTA & 0x30) != 0x10) {
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OCR1A = 0; |
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} |
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PORTA = (PORTA & 0xCF) | 0x10; |
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// PORTD |= 0x10; |
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// PORTD &= 0xBF; |
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} else {
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// turn off PWM first if switching directions |
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if((PORTA & 0x30) != 0x20) {
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OCR1A = 0; |
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} |
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PORTA = (PORTA & 0xCF) | 0x20; |
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// PORTD |= 0x40; |
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// PORTD &= 0xEF; |
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} |
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| 101 | 98 |
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// Set the timer to count up to speed, an 8-bit value
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OCR1AL = speed;
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// Set the timer to count up to speed, an 8-bit value
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OCR1AL = speed;
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| 104 | 101 |
} |
| 105 | 102 |
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| 106 | 103 |
/** |
| ... | ... | |
| 113 | 110 |
* @see motor1_set, motors_init |
| 114 | 111 |
**/ |
| 115 | 112 |
void motor2_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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// turn off PWM first if switching directions |
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if((PORTA & 0xC0) != 0x80) |
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{
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OCR1B = 0; |
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} |
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if(direction == 0) {
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// PORTD |= 0x20; |
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// PORTD &= 0x7F; |
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// turn off PWM first if switching directions |
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if((PORTA & 0xC0) != 0x80) {
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OCR1B = 0; |
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} |
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| 124 | 120 |
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PORTA = (PORTA & 0x3F) | 0x80; |
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} |
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else {
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// PORTD |= 0x80; |
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// PORTD &= 0xDF; |
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PORTA = (PORTA & 0x3F) | 0x80; |
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} else {
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// PORTD |= 0x80; |
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// PORTD &= 0xDF; |
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| 130 | 125 |
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// turn off PWM first if switching directions |
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if((PORTA & 0xC0) != 0x40) |
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{
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OCR1B = 0; |
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} |
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// turn off PWM first if switching directions |
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if((PORTA & 0xC0) != 0x40) {
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OCR1B = 0; |
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} |
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| 136 | 130 |
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PORTA = (PORTA & 0x3F) | 0x40;
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}
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OCR1BL = speed;
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PORTA = (PORTA & 0x3F) | 0x40;
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}
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OCR1BL = speed;
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| 140 | 134 |
} |
| 141 | 135 |
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| 142 | 136 |
/** |
| ... | ... | |
| 145 | 139 |
* @see motors_init |
| 146 | 140 |
**/ |
| 147 | 141 |
void motors_off( void ) {
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OCR1AL = 0x0;
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OCR1BL = 0x0;
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OCR1AL = 0x0;
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OCR1BL = 0x0;
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| 150 | 144 |
} |
| 151 | 145 |
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| 152 | 146 |
/**@}**///end defgroup |
Also available in: Unified diff