46 lines
1.4 KiB
C
46 lines
1.4 KiB
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
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= DIRECTION_LEFT_FORWARD | DIRECTION_LEFT_BACKWARD
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| DIRECTION_RIGHT_FORWARD | 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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/*!
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* @brief Set the speed of the wheels
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* @param speed The speed of the wheels, from 0 to 5000
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*/
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void
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set_wheel_speed(uint32_t speed)
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{
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g_motor_right.pwm.level = speed;
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g_motor_left.pwm.level = speed;
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pwm_set_chan_level(g_motor_right.pwm.slice_num,
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g_motor_right.pwm.channel,
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g_motor_right.pwm.level);
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pwm_set_chan_level(g_motor_left.pwm.slice_num,
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g_motor_left.pwm.channel,
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g_motor_left.pwm.level);
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} |