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Motoransteuerung lesbarer gemacht

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This commit is contained in:
meyma 2007-02-13 19:43:03 +00:00
parent 5c33efe58d
commit 0dbbdb4db3
2 changed files with 48 additions and 34 deletions
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57
source/AVR_Studio/Soccer/hal/board.c
View file

@ -115,46 +115,45 @@ void Board::motor(int i, int speed)
if((i < 0) || (i > 3)) return; if((i < 0) || (i > 3)) return;
const int OFFSET = 40; // Motor does not work with very low ratio const int OFFSET = 40; // Motor does not work with very low ratio
const int PWM_MAX = 255; const int PWM_MAX = 255;
int pwm = 0; // PWM-Speed
int pwm = abs(speed)+OFFSET; if(speed != 0) pwm = abs(speed)+OFFSET;
if(pwm > PWM_MAX) pwm = PWM_MAX; if(pwm > PWM_MAX) pwm = PWM_MAX;
if(i == 0) if(i == 0) {
{
MOTOR0_PWM = pwm; MOTOR0_PWM = pwm;
if(speed > 0) if(speed > 0)
{ {
PORTD |= (1 << 5);//In 1 ein MOTOR0_PORT |= MOTOR0_A;//In 1 ein
PORTD &= ~(1 << 4);//In 2 aus MOTOR0_PORT &= ~MOTOR0_B;//In 2 aus
} }
else if(speed < 0) else if(speed < 0)
{ {
PORTD |= (1 << 4);//In 2 ein MOTOR0_PORT |= MOTOR0_B;//In 2 ein
PORTD &= ~(1 << 5);//In 1 aus MOTOR0_PORT &= ~MOTOR0_A;//In 1 aus
} }
else else
{ {
PORTD |= (1 << 4);//In 2 ein MOTOR0_PORT |= MOTOR0_B;//In 2 ein
PORTD |= (1 << 5);//In 1 ein MOTOR0_PORT |= MOTOR0_A;//In 1 ein
} }
} }
else if(i == 1) else if(i == 1) {
{
MOTOR1_PWM = pwm; MOTOR1_PWM = pwm;
if(speed > 0) if(speed > 0)
{ {
PORTD |= (1 << 6);//In 1 ein MOTOR1_PORT |= MOTOR1_A;//In 1 ein
PORTD &= ~(1 << 7);//In 2 aus MOTOR1_PORT &= ~MOTOR1_B;//In 2 aus
} }
else if(speed < 0) else if(speed < 0)
{ {
PORTD |= (1 << 7);//In 2 ein MOTOR1_PORT |= MOTOR1_B;//In 2 ein
PORTD &= ~(1 << 6);//In 1 aus MOTOR1_PORT &= ~MOTOR1_A;//In 1 aus
} }
else else
{ {
PORTD |= (1 << 6);//In 2 ein MOTOR1_PORT |= MOTOR1_B;//In 2 ein
PORTD |= (1 << 7);//In 1 ein MOTOR1_PORT |= MOTOR1_A;//In 1 ein
} }
} }
else if(i == 2) else if(i == 2)
@ -162,18 +161,18 @@ void Board::motor(int i, int speed)
MOTOR2_PWM = pwm; MOTOR2_PWM = pwm;
if(speed > 0) if(speed > 0)
{ {
PORTB |= (1 << 0);//In 1 ein MOTOR2_PORT |= MOTOR2_A;//In 1 ein
PORTB &= ~(1 << 1);//In 2 aus MOTOR2_PORT &= ~MOTOR2_B;//In 2 aus
} }
else if(speed < 0) else if(speed < 0)
{ {
PORTB |= (1 << 1);//In 2 ein MOTOR2_PORT |= MOTOR2_B;//In 2 ein
PORTB &= ~(1 << 0);//In 1 aus MOTOR2_PORT &= ~MOTOR2_A;//In 1 aus
} }
else else
{ {
PORTB |= (1 << 1);//In 2 ein MOTOR2_PORT |= MOTOR2_B;//In 2 ein
PORTB |= (1 << 0);//In 1 ein MOTOR2_PORT |= MOTOR2_A;//In 1 ein
} }
} }
else if(i == 3) else if(i == 3)
@ -181,18 +180,18 @@ void Board::motor(int i, int speed)
DRIBBLER_PWM = pwm; DRIBBLER_PWM = pwm;
if(speed > 0) if(speed > 0)
{ {
PORTB |= (1 << 2);//In 1 ein DRIBBLER_PORT |= DRIBBLER_A;//In 1 ein
PORTB &= ~(1 << 3);//In 2 aus DRIBBLER_PORT &= ~DRIBBLER_B;//In 2 aus
} }
else if(speed < 0) else if(speed < 0)
{ {
PORTB |= (1 << 3);//In 2 ein DRIBBLER_PORT |= DRIBBLER_B;//In 2 ein
PORTB &= ~(1 << 2);//In 1 aus DRIBBLER_PORT &= ~DRIBBLER_A;//In 1 aus
} }
else else
{ {
PORTB |= (1 << 2);//In 2 ein DRIBBLER_PORT |= DRIBBLER_B;//In 2 ein
PORTB |= (1 << 3);//In 1 ein DRIBBLER_PORT |= DRIBBLER_A;//In 1 ein
} }
} }
} }

25
source/AVR_Studio/Soccer/hal/board.h
View file

@ -10,11 +10,26 @@
#define BEEPER_PIN PG2 #define BEEPER_PIN PG2
// Definiere PWM-Ports für die Motoren/Dribbler // Definiere Konstanten für die Motoren/Dribbler
#define MOTOR0_PWM OCR3A #define MOTOR0_PORT PORTD
#define MOTOR1_PWM OCR3B #define MOTOR0_PWM OCR3A
#define MOTOR2_PWM OCR1A #define MOTOR0_A (1 << 5)
#define DRIBBLER_PWM OCR1C #define MOTOR0_B (1 << 4)
#define MOTOR1_PORT PORTD
#define MOTOR1_PWM OCR3B
#define MOTOR1_A (1 << 6)
#define MOTOR1_B (1 << 7)
#define MOTOR2_PORT PORTB
#define MOTOR2_PWM OCR1A
#define MOTOR2_A (1 << 0)
#define MOTOR2_B (1 << 1)
#define DRIBBLER_PORT PORTB
#define DRIBBLER_PWM OCR1C
#define DRIBBLER_A (1 << 2)
#define DRIBBLER_B (1 << 3)
#define UART_BAUD_RATE 9600 #define UART_BAUD_RATE 9600