void turn() {
// Default Brake
int _INA = LOW;
int _INB = LOW;
int _speed = round(speed * 255);
// Amount of turn is based on potentiometer reading
if(direction == TURN_DIRECTION_LEFT) {
_INA = LOW;
_INB = HIGH;
} else if(direction == TURN_DIRECTION_RIGHT) {
_INA = HIGH;
_INB = LOW;
} else if(direction == TURN_DIRECTION_BRAKE) {
_INA = LOW;
_INB = LOW;
// _INA = HIGH;
// _INB = HIGH;
}
analogWrite(PIN_STEER_PWM, _speed);
//digitalWrite(SPIN_STEER_INA1, _INA);
//digitalWrite(SPIN_STEER_INB1, _INB);
setRegisterPin(SPIN_STEER_INA1, _INA);
setRegisterPin(SPIN_STEER_INB1, _INB);
}
void display_bit_pattern(int cycle) {
clearRegisters();
int index;
for (index = 0 ; index < SR_MAX ; index++) {
setRegisterPin(index, (cycle & (1 << index)) > 0 ? HIGH : LOW);
}
writeRegisters();
}
