blob: 27b99057d5562e3e52e803a770b9545c93407a5d (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
|
#ifndef _ENGINE_H
#define _ENGINE_H
#include "../../stdafx.h"
class Engine : public IO_Module
{
public:
Engine()
{
this->enabled = false;
this->curSpeed = 0;
this->parent = NULL;
this->moduleId = 0;
this->hardwarePort = NULL;
this->pwmSpeed = NULL;
this->pinForward = 0;
this->pinReverse = 0;
}
Engine(uint32 engineId)
{
this->enabled = false;
this->curSpeed = 0;
this->parent = NULL;
this->moduleId = engineId;
switch(engineId)
{
case IO_ENGINE_DRIVE_LEFT:
this->hardwarePort = &PORTB;
this->pwmSpeed = &OCR1A;
this->pinForward = (1 << 0);
this->pinReverse = (1 << 1);
break;
case IO_ENGINE_DRIVE_BACK:
this->hardwarePort = &PORTB;
this->pwmSpeed = &OCR1B;
this->pinForward = (1 << 2);
this->pinReverse = (1 << 3);
break;
case IO_ENGINE_DRIVE_RIGHT:
this->hardwarePort = &PORTD;
this->pwmSpeed = &OCR3A;
this->pinForward = (1 << 5);
this->pinReverse = (1 << 4);
break;
default:
this->hardwarePort = NULL;
this->pwmSpeed = NULL;
this->pinForward = 0;
this->pinReverse = 0;
break;
}
*this->pwmSpeed = 0;
}
protected:
bool enabled;
float curSpeed;
//Hardware
volatile uint8* hardwarePort;
volatile uint16* pwmSpeed;
uint8 pinForward;
uint8 pinReverse;
void UpdateDirection()
{
if(enabled)
{
if(curSpeed > 0)
{
*hardwarePort |= pinForward;
*hardwarePort &= ~pinReverse;
}
else if(curSpeed < 0)
{
*hardwarePort |= pinReverse;
*hardwarePort &= ~pinForward;
}
else
{
*hardwarePort |= pinForward;
*hardwarePort |= pinReverse;
}
}
else
{
*hardwarePort &= ~pinForward;
*hardwarePort &= ~pinReverse;
}
}
public:
float GetSpeed()
{
return curSpeed;
}
void SetSpeed(float newSpeed)
{
curSpeed = newSpeed;
*pwmSpeed = (abs((int16)(newSpeed / SPEED_PER_PWM)));
UpdateDirection();
}
bool GetEnabled()
{
return enabled;
}
void SetEnabled(bool newStatus)
{
enabled = newStatus;
UpdateDirection();
}
};
#endif
|
