diff options
Diffstat (limited to 'source/ct-Bot/pc/motor-low_pc.c')
| -rw-r--r-- | source/ct-Bot/pc/motor-low_pc.c | 81 |
1 files changed, 81 insertions, 0 deletions
diff --git a/source/ct-Bot/pc/motor-low_pc.c b/source/ct-Bot/pc/motor-low_pc.c new file mode 100644 index 0000000..1bd7e80 --- /dev/null +++ b/source/ct-Bot/pc/motor-low_pc.c @@ -0,0 +1,81 @@ +/* + * c't-Sim - Robotersimulator fuer den c't-Bot + * + * This program is free software; you can redistribute it + * and/or modify it under the terms of the GNU General + * Public License as published by the Free Software + * Foundation; either version 2 of the License, or (at your + * option) any later version. + * This program is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. See the GNU General Public License for more details. + * You should have received a copy of the GNU General Public + * License along with this program; if not, write to the Free + * Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307, USA. + * + */ + +/*! @file motor-low_pc.c + * @brief Low-Level Routinen fuer die Motorsteuerung des c't-Bots + * @author Benjamin Benz (bbe@heise.de) + * @date 01.12.05 +*/ + +#include "ct-Bot.h" + +#ifdef PC + +#include <stdlib.h> +#include "command.h" +#include "bot-2-sim.h" +#include "motor-low.h" +#include "motor.h" + + +int16 motor_left; /*!< zuletzt gestellter Wert linker Motor */ +int16 motor_right; /*!< zuletzt gestellter Wert rechter Motor */ + +/*! + * Initilisiert alles fuer die Motosteuerung + */ +void motor_low_init(){ +} + +/*! + * Unmittelbarer Zugriff auf die beiden Motoren, + * normalerweise NICHT verwenden! + * @param left PWM links + * @param right PWM rechts +*/ +void bot_motor(int16 left, int16 right){ + command_write(CMD_AKT_MOT, SUB_CMD_NORM ,&left,&right,0); + + if (right < 0 ) + direction.right= DIRECTION_BACKWARD; + if (right > 0 ) + direction.right= DIRECTION_FORWARD; + if (left < 0 ) + direction.left= DIRECTION_BACKWARD; + if (left > 0 ) + direction.left= DIRECTION_FORWARD; + + motor_left=left; + motor_right=right; + +} + +/*! + * Stellt die Servos + * Sinnvolle Werte liegen zwischen 8 und 16 + * @param servo Nummer des Servos + * @param servo Zielwert + */ +void servo_low(uint8 servo, uint8 pos){ + int16 p = pos; + int16 s = servo; + command_write(CMD_AKT_SERVO, SUB_CMD_NORM ,&s,&p,0); +} + +#endif |