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INF2004_Project
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modified speed function; prep for pid

This commit is contained in:
Richie 2023-10-13 17:44:57 +08:00
parent aeb39084ab
commit 84e22bc488
2 changed files with 19 additions and 8 deletions
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2
frtos/car/rtos_car.c
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@ -64,7 +64,7 @@ main (void)
sleep_ms(2000); sleep_ms(2000);
set_wheel_direction(DIRECTION_RIGHT_FORWARD); set_wheel_direction(DIRECTION_RIGHT_FORWARD);
set_wheel_speed(1.f); set_wheel_speed(1.f, 1u);
launch(); launch();

15
frtos/car/wheel.h
View File

@ -101,16 +101,27 @@ set_wheel_direction (uint32_t direction)
gpio_set_mask(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 void
set_wheel_speed (float speed) set_wheel_speed (float speed, uint8_t side)
{ {
if (side == 0U)
{
pwm_set_chan_level(g_slice_num_left, pwm_set_chan_level(g_slice_num_left,
PWM_CHAN_A, PWM_CHAN_A,
(short) (PWM_WRAP * speed)); (short) (PWM_WRAP * speed));
}
else
{
pwm_set_chan_level(g_slice_num_right, pwm_set_chan_level(g_slice_num_right,
PWM_CHAN_B, PWM_CHAN_B,
(short) (PWM_WRAP * speed)); (short) (PWM_WRAP * speed));
}
} }
void void