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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);
set_wheel_direction(DIRECTION_RIGHT_FORWARD);
set_wheel_speed(1.f);
set_wheel_speed(1.f, 1u);
launch();

15
frtos/car/wheel.h
View File

@ -101,18 +101,29 @@ 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)
{
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));
}
}
void
left_wheel_sensor_isr (__unused uint gpio, __unused uint32_t events)
{