diff options
Diffstat (limited to 'source/AVR_Studio/Soccer/hal/board.c')
| -rwxr-xr-x | source/AVR_Studio/Soccer/hal/board.c | 57 |
1 files changed, 28 insertions, 29 deletions
diff --git a/source/AVR_Studio/Soccer/hal/board.c b/source/AVR_Studio/Soccer/hal/board.c index d60834b..438973a 100755 --- a/source/AVR_Studio/Soccer/hal/board.c +++ b/source/AVR_Studio/Soccer/hal/board.c @@ -115,46 +115,45 @@ void Board::motor(int i, int speed) if((i < 0) || (i > 3)) return;
const int OFFSET = 40; // Motor does not work with very low ratio
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(i == 0)
- {
+ if(i == 0) {
MOTOR0_PWM = pwm;
if(speed > 0)
{
- PORTD |= (1 << 5);//In 1 ein
- PORTD &= ~(1 << 4);//In 2 aus
+ MOTOR0_PORT |= MOTOR0_A;//In 1 ein
+ MOTOR0_PORT &= ~MOTOR0_B;//In 2 aus
}
else if(speed < 0)
{
- PORTD |= (1 << 4);//In 2 ein
- PORTD &= ~(1 << 5);//In 1 aus
+ MOTOR0_PORT |= MOTOR0_B;//In 2 ein
+ MOTOR0_PORT &= ~MOTOR0_A;//In 1 aus
}
else
{
- PORTD |= (1 << 4);//In 2 ein
- PORTD |= (1 << 5);//In 1 ein
+ MOTOR0_PORT |= MOTOR0_B;//In 2 ein
+ MOTOR0_PORT |= MOTOR0_A;//In 1 ein
}
}
- else if(i == 1)
- {
+ else if(i == 1) {
MOTOR1_PWM = pwm;
if(speed > 0)
{
- PORTD |= (1 << 6);//In 1 ein
- PORTD &= ~(1 << 7);//In 2 aus
+ MOTOR1_PORT |= MOTOR1_A;//In 1 ein
+ MOTOR1_PORT &= ~MOTOR1_B;//In 2 aus
}
else if(speed < 0)
{
- PORTD |= (1 << 7);//In 2 ein
- PORTD &= ~(1 << 6);//In 1 aus
+ MOTOR1_PORT |= MOTOR1_B;//In 2 ein
+ MOTOR1_PORT &= ~MOTOR1_A;//In 1 aus
}
else
{
- PORTD |= (1 << 6);//In 2 ein
- PORTD |= (1 << 7);//In 1 ein
+ MOTOR1_PORT |= MOTOR1_B;//In 2 ein
+ MOTOR1_PORT |= MOTOR1_A;//In 1 ein
}
}
else if(i == 2)
@@ -162,18 +161,18 @@ void Board::motor(int i, int speed) MOTOR2_PWM = pwm;
if(speed > 0)
{
- PORTB |= (1 << 0);//In 1 ein
- PORTB &= ~(1 << 1);//In 2 aus
+ MOTOR2_PORT |= MOTOR2_A;//In 1 ein
+ MOTOR2_PORT &= ~MOTOR2_B;//In 2 aus
}
else if(speed < 0)
{
- PORTB |= (1 << 1);//In 2 ein
- PORTB &= ~(1 << 0);//In 1 aus
+ MOTOR2_PORT |= MOTOR2_B;//In 2 ein
+ MOTOR2_PORT &= ~MOTOR2_A;//In 1 aus
}
else
{
- PORTB |= (1 << 1);//In 2 ein
- PORTB |= (1 << 0);//In 1 ein
+ MOTOR2_PORT |= MOTOR2_B;//In 2 ein
+ MOTOR2_PORT |= MOTOR2_A;//In 1 ein
}
}
else if(i == 3)
@@ -181,18 +180,18 @@ void Board::motor(int i, int speed) DRIBBLER_PWM = pwm;
if(speed > 0)
{
- PORTB |= (1 << 2);//In 1 ein
- PORTB &= ~(1 << 3);//In 2 aus
+ DRIBBLER_PORT |= DRIBBLER_A;//In 1 ein
+ DRIBBLER_PORT &= ~DRIBBLER_B;//In 2 aus
}
else if(speed < 0)
{
- PORTB |= (1 << 3);//In 2 ein
- PORTB &= ~(1 << 2);//In 1 aus
+ DRIBBLER_PORT |= DRIBBLER_B;//In 2 ein
+ DRIBBLER_PORT &= ~DRIBBLER_A;//In 1 aus
}
else
{
- PORTB |= (1 << 2);//In 2 ein
- PORTB |= (1 << 3);//In 1 ein
+ DRIBBLER_PORT |= DRIBBLER_B;//In 2 ein
+ DRIBBLER_PORT |= DRIBBLER_A;//In 1 ein
}
}
}
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