From dc1306244e3a7853c31cd94c5ac3d97aa6e6c0d5 Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Tue, 3 Apr 2007 12:48:00 +0000
Subject: Neues Rescue-Programm angefangen (2)

---
 avr.c | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)
 create mode 100644 avr.c

(limited to 'avr.c')

diff --git a/avr.c b/avr.c
new file mode 100644
index 0000000..ac303d0
--- /dev/null
+++ b/avr.c
@@ -0,0 +1,16 @@
+#include "avr.h"
+#include "util.h"
+
+void setMotorSpeed(MOTOR *motor, int speed) {
+  if(speed > 0) {
+    *motor->port &= ~motor->revMask;
+    *motor->port |= motor->fwdMask;
+  }
+  else if(speed < 0) {
+    *motor->port &= ~motor->fwdMask;
+    *motor->port |= motor->revMask;
+  }
+  else *motor->port |= motor->fwdMask|motor->revMask;
+  
+  *motor->pwmPort = CLAMP(0, ABS(speed), 255);
+}
-- 
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