void motorSquare(uint16_t peakVoltage)
{
uint16_t zero = 0; // 16 bit zero
motorForward();
setMotorAmplitude(peakVoltage); // drive the motor at DC voltage
__delay_cycles(2000000); // 1 second delay
setMotorAmplitude(zero); // stop motor
motorOpen(); // bring motor to open state as recomended from datasheet
__delay_cycles(20); // let voltage levels settle
motorBrake();
__delay_cycles(2000000);
// break motor
//while(ADC12MEM0 > 100){}
//ADC12IER0 &= ~ADC12IE0; // disable interupt on ADC12IFG0 bit
//ADC12IER0 &= ~ADC12IE1; // disable interupt on ADC12IFG1 bit
//startTimer();
}
void processCmdMsg(pb_istream_t *streamPtr) {
pb_istream_t substream;
gCmdParamNum = 0;
double degSec;
double pos;
EMotorDirection dir;
if (pb_make_string_substream(streamPtr, &substream)) {
MotorMsg_Cmd motorCmd = MotorMsg_Cmd_init_zero;
motorCmd.params.funcs.decode = &motorCmdParamCallback;
//motorCmd.params.arg = (void *) (&motorCmd.action);
pb_decode(&substream, MotorMsg_Cmd_fields, &motorCmd);
pb_close_string_substream(streamPtr, &substream);
switch (motorCmd.action) {
case MotorMsg_Cmd_Action_UNKNOWN:
break;
case MotorMsg_Cmd_Action_BRAKE:
motorBrake();
break;
case MotorMsg_Cmd_Action_FREEWHEEL:
motorFreewheel();
break;
case MotorMsg_Cmd_Action_RUN:
degSec = getMotorParam(MotorMsg_Cmd_Param_Id_VELOCITY, gCmdParams, gCmdParamNum);
dir = (getMotorParam(MotorMsg_Cmd_Param_Id_CLOCKWISE, gCmdParams, gCmdParamNum) != 0.0) ? eClockwise : eCounterClockwise;
motorRun(dir, degSec);
break;
case MotorMsg_Cmd_Action_GOTO_POS:
pos = getMotorParam(MotorMsg_Cmd_Param_Id_POSITION, gCmdParams, gCmdParamNum);
degSec = getMotorParam(MotorMsg_Cmd_Param_Id_VELOCITY, gCmdParams, gCmdParamNum);
dir = (getMotorParam(MotorMsg_Cmd_Param_Id_CLOCKWISE, gCmdParams, gCmdParamNum) != 0.0) ? eClockwise : eCounterClockwise;
motorGotoPos(dir, pos, degSec);
break;
}
}
}
void Move::brake() {
changeMoveState(MOV_STOP);
motorBrake(MOTOR_LEFT);
motorBrake(MOTOR_RIGHT);
}
