Revision 86196a57
Tested the forklift and tuned the PI a little
| forklift/code/motor.c | ||
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#include <avr/io.h> |
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#include "motor.h" |
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#include <stdlib.h> |
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/* |
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motor controller |
| ... | ... | |
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int8_t motor_speed; |
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void motor_init(void) |
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{
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// WGM1 0b0101 (fast PWM, 8-bit) |
| ... | ... | |
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/* Speed must be between -127 and 127 */ |
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{
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motor_speed = speed; |
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OCR1AL = abs(speed)*2; |
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OCR1AL = (uint8_t)abs(speed)*2;
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if(speed>0) //go forwards |
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{
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PORTD |= (1<<PD7);
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PORTD = PORTD & ~(1<<PD6);
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}
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PORTD |= (1<<PD7);
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PORTD = PORTD & ~(1<<PD6);
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}
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if(speed<0) //go backwards |
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{
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PORTD |= (1<<PD6);
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PORTD = PORTD & ~(1<<PD7);
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PORTD |= (1<<PD6);
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PORTD = PORTD & ~(1<<PD7);
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} |
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if(speed==0) // turn motor off |
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{
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PORTD = PORTD & ~(1<<PD6);
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PORTD = PORTD & ~(1<<PD7);
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PORTD = PORTD & ~(1<<PD6);
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PORTD = PORTD & ~(1<<PD7);
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} |
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} |
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