From 84e22bc48861aa1912891284f8a713030eea794a Mon Sep 17 00:00:00 2001
From: Richie <2837357W@student.gla.ac.uk>
Date: Fri, 13 Oct 2023 17:44:57 +0800
Subject: [PATCH] modified speed function; prep for pid

---
 frtos/car/rtos_car.c |  2 +-
 frtos/car/wheel.h    | 25 ++++++++++++++++++-------
 2 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/frtos/car/rtos_car.c b/frtos/car/rtos_car.c
index 2b925b3..c46b6e5 100644
--- a/frtos/car/rtos_car.c
+++ b/frtos/car/rtos_car.c
@@ -64,7 +64,7 @@ main (void)
     sleep_ms(2000);
 
     set_wheel_direction(DIRECTION_RIGHT_FORWARD);
-    set_wheel_speed(1.f);
+    set_wheel_speed(1.f, 1u);
 
     launch();
 
diff --git a/frtos/car/wheel.h b/frtos/car/wheel.h
index 9a46b99..b9932cc 100644
--- a/frtos/car/wheel.h
+++ b/frtos/car/wheel.h
@@ -101,16 +101,27 @@ set_wheel_direction (uint32_t direction)
     gpio_set_mask(direction);
 }
 
+/*!
+ * @brief Set the speed of the wheels; can use bitwise OR to set both
+ * @param speed in range [0.0, 1.0]
+ * @param side 0 for left, 1 for right
+ */
 void
-set_wheel_speed (float speed)
+set_wheel_speed (float speed, uint8_t side)
 {
-    pwm_set_chan_level(g_slice_num_left,
-                       PWM_CHAN_A,
-                       (short) (PWM_WRAP * speed));
+    if (side == 0U)
+    {
+        pwm_set_chan_level(g_slice_num_left,
+                           PWM_CHAN_A,
+                           (short) (PWM_WRAP * speed));
+    }
+    else
+    {
+        pwm_set_chan_level(g_slice_num_right,
+                           PWM_CHAN_B,
+                           (short) (PWM_WRAP * speed));
+    }
 
-    pwm_set_chan_level(g_slice_num_right,
-                       PWM_CHAN_B,
-                       (short) (PWM_WRAP * speed));
 }
 
 void