114 lines
2.9 KiB
C
114 lines
2.9 KiB
C
/*
|
|
* @file motor_direction.c
|
|
* @brief control the direction of the wheels by setting the GPIO mask
|
|
* @author Richie
|
|
*/
|
|
|
|
#include "motor_init.h"
|
|
|
|
/*!
|
|
* @brief Set the direction of the wheels; can use bitwise OR to set both
|
|
* wheels such as DIRECTION_LEFT_FORWARD | DIRECTION_RIGHT_BACKWARD, it will
|
|
* set the left motor to go forward and the right motor to go backward within
|
|
* the same function.
|
|
* if the motor direction is not set, it will not move.
|
|
* @param direction The direction of the left and right wheels
|
|
* @param left_speed The speed of the left motor, from 0.0 to 1.0
|
|
* @param right_speed The speed of the right motor, from 0.0 to 1.0
|
|
*/
|
|
void
|
|
set_wheel_direction(uint32_t direction)
|
|
{
|
|
static const uint32_t mask
|
|
= DIRECTION_LEFT_FORWARD | DIRECTION_LEFT_BACKWARD
|
|
| DIRECTION_RIGHT_FORWARD | DIRECTION_RIGHT_BACKWARD;
|
|
|
|
gpio_put_masked(mask, 0U);
|
|
gpio_set_mask(direction);
|
|
}
|
|
|
|
void
|
|
turn_left_90()
|
|
{
|
|
set_wheel_direction(DIRECTION_RIGHT_FORWARD);
|
|
set_wheel_speed(3500u, &g_motor_right);
|
|
|
|
float initial = g_motor_right.speed.distance_cm;
|
|
for (;;)
|
|
{
|
|
if (g_motor_right.speed.distance_cm - initial >= 17.f)
|
|
{
|
|
set_wheel_speed(0u, &g_motor_right);
|
|
break;
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(5));
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(1000));
|
|
g_motor_right.speed.distance_cm = initial;
|
|
g_motor_left.speed.distance_cm = initial;
|
|
}
|
|
|
|
void
|
|
turn_right_90()
|
|
{
|
|
set_wheel_direction(DIRECTION_LEFT_FORWARD);
|
|
set_wheel_speed(3500u, &g_motor_left);
|
|
|
|
float initial = g_motor_left.speed.distance_cm;
|
|
for (;;)
|
|
{
|
|
if (g_motor_left.speed.distance_cm - initial >= 17.f)
|
|
{
|
|
set_wheel_speed(0u, &g_motor_left);
|
|
break;
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(5));
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(1000));
|
|
g_motor_left.speed.distance_cm = initial;
|
|
g_motor_right.speed.distance_cm = initial;
|
|
}
|
|
|
|
void
|
|
spin_left_90()
|
|
{
|
|
set_wheel_direction(DIRECTION_LEFT);
|
|
|
|
set_wheel_speed_synced(3500u);
|
|
|
|
float initial = g_motor_left.speed.distance_cm;
|
|
for (;;)
|
|
{
|
|
if (g_motor_left.speed.distance_cm - initial >= 7.5f)
|
|
{
|
|
set_wheel_speed_synced(0u);
|
|
break;
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(5));
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(1000));
|
|
g_motor_left.speed.distance_cm = initial;
|
|
g_motor_right.speed.distance_cm = initial;
|
|
}
|
|
|
|
void
|
|
spin_right_90()
|
|
{
|
|
set_wheel_direction(DIRECTION_RIGHT);
|
|
|
|
set_wheel_speed_synced(3500u);
|
|
|
|
float initial = g_motor_right.speed.distance_cm;
|
|
for (;;)
|
|
{
|
|
if (g_motor_right.speed.distance_cm - initial >= 7.5f)
|
|
{
|
|
set_wheel_speed_synced(0u);
|
|
break;
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(5));
|
|
}
|
|
vTaskDelay(pdMS_TO_TICKS(1000));
|
|
g_motor_right.speed.distance_cm = initial;
|
|
g_motor_left.speed.distance_cm = initial;
|
|
} |