Revision f4a85021
Changed abs() in motor.c to clamp 128 to 127
paintboard/code/motor.c  

19  19 
int8_t motor1_speed; 
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int8_t motor2_speed; 
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inline uint8_t abs_clamp(int8_t n) 

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{ 

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if (n == 128) 

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return 127; 

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else if (n < 0) 

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return n; 

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else 

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return n; 

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} 

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void motor_init(void) 
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{ 
24  34  
...  ...  
44  54 
/* Speed must be between 127 and 127 */ 
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{ 
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motor1_speed = speed; 
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OCR2A = (uint8_t)abs(speed)*2;


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OCR2A = abs_clamp(speed)*2;


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if(speed>0) //go forwards 
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{ 
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PORTC = (1<<PC0); 
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PORTC &= ~(1<<PC1); 

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PORTC = PORTC & ~(1<<PC1); 
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} 
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if(speed<0) //go backwards 
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{ 
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PORTC &= ~(1<<PC0); 

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PORTC = (1<<PC1); 
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PORTC = PORTC & ~(1<<PC0); 
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} 
...  ...  
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/* Speed must be between 127 and 127 */ 
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{ 
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motor2_speed = speed; 
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OCR2B = (uint8_t)abs(speed)*2;


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OCR2B = abs_clamp(speed)*2;


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if(speed>0) //go forwards 
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{ 
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PORTC = (1<<PC2); 
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PORTC &= ~(1<<PC3); 

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PORTC = PORTC & ~(1<<PC3); 
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} 
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if(speed<0) //go backwards 
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{ 
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PORTC &= ~(1<<PC2); 

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PORTC = (1<<PC3); 
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PORTC = PORTC & ~(1<<PC2); 
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} 
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