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/*
* 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
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