81 lines
2 KiB
C
81 lines
2 KiB
C
/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file motor-low_pc.c
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* @brief Low-Level Routinen fuer die Motorsteuerung des c't-Bots
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* @author Benjamin Benz (bbe@heise.de)
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* @date 01.12.05
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*/
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#include "ct-Bot.h"
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#ifdef PC
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#include <stdlib.h>
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#include "command.h"
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#include "bot-2-sim.h"
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#include "motor-low.h"
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#include "motor.h"
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int16 motor_left; /*!< zuletzt gestellter Wert linker Motor */
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int16 motor_right; /*!< zuletzt gestellter Wert rechter Motor */
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/*!
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* Initilisiert alles fuer die Motosteuerung
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*/
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void motor_low_init(){
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}
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/*!
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* Unmittelbarer Zugriff auf die beiden Motoren,
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* normalerweise NICHT verwenden!
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* @param left PWM links
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* @param right PWM rechts
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*/
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void bot_motor(int16 left, int16 right){
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command_write(CMD_AKT_MOT, SUB_CMD_NORM ,&left,&right,0);
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if (right < 0 )
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direction.right= DIRECTION_BACKWARD;
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if (right > 0 )
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direction.right= DIRECTION_FORWARD;
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if (left < 0 )
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direction.left= DIRECTION_BACKWARD;
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if (left > 0 )
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direction.left= DIRECTION_FORWARD;
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motor_left=left;
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motor_right=right;
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}
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/*!
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* Stellt die Servos
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* Sinnvolle Werte liegen zwischen 8 und 16
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* @param servo Nummer des Servos
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* @param servo Zielwert
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*/
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void servo_low(uint8 servo, uint8 pos){
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int16 p = pos;
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int16 s = servo;
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command_write(CMD_AKT_SERVO, SUB_CMD_NORM ,&s,&p,0);
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}
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#endif
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