31 lines
1009 B
C
31 lines
1009 B
C
/*
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* @file motor_direction.c
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* @brief control the direction of the wheels by setting the GPIO mask
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* @author Richie
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*/
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#include "motor_init.h"
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/*!
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* @brief Set the direction of the wheels; can use bitwise OR to set both
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* wheels such as DIRECTION_LEFT_FORWARD | DIRECTION_RIGHT_BACKWARD, it will
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* set the left motor to go forward and the right motor to go backward within
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* the same function.
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* if the motor direction is not set, it will not move.
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* @param direction The direction of the left and right wheels
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* @param left_speed The speed of the left motor, from 0.0 to 1.0
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* @param right_speed The speed of the right motor, from 0.0 to 1.0
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*/
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void
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set_wheel_direction (uint32_t direction)
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{
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static const uint32_t mask = DIRECTION_LEFT_FORWARD |
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DIRECTION_LEFT_BACKWARD |
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DIRECTION_RIGHT_FORWARD |
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DIRECTION_RIGHT_BACKWARD;
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gpio_put_masked(mask, 0U);
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gpio_set_mask(direction);
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}
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