From 0dbbdb4db3451d4074322fb6c65524882edba992 Mon Sep 17 00:00:00 2001
From: meyma <devnull@localhost>
Date: Tue, 13 Feb 2007 19:43:03 +0000
Subject: Motoransteuerung lesbarer gemacht

---
 source/AVR_Studio/Soccer/hal/board.c | 57 ++++++++++++++++++------------------
 source/AVR_Studio/Soccer/hal/board.h | 25 ++++++++++++----
 2 files changed, 48 insertions(+), 34 deletions(-)

(limited to 'source/AVR_Studio')

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
 		}
 	}
 }
diff --git a/source/AVR_Studio/Soccer/hal/board.h b/source/AVR_Studio/Soccer/hal/board.h
index dd177f1..03df24f 100755
--- a/source/AVR_Studio/Soccer/hal/board.h
+++ b/source/AVR_Studio/Soccer/hal/board.h
@@ -10,11 +10,26 @@
 
 #define BEEPER_PIN PG2
 
-// Definiere PWM-Ports für die Motoren/Dribbler
-#define MOTOR0_PWM OCR3A 
-#define MOTOR1_PWM OCR3B
-#define MOTOR2_PWM OCR1A
-#define DRIBBLER_PWM OCR1C
+// Definiere Konstanten für die Motoren/Dribbler
+#define MOTOR0_PORT PORTD
+#define MOTOR0_PWM OCR3A 
+#define MOTOR0_A (1 << 5)
+#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
 
-- 
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