Ejemplo n.º 1
0
/**
 * Set motor speeds
 * \param left_motor 	left motor speed ranging from 0 to 1023. Sign indicates rotation direction
 * \param right_motor 	right motor speed ranging from 0 to 1023. Sign indicates rotation direction
  */
void HAL_set_motors(int16_t left_motor, int16_t right_motor) {
  /// right motor and left motor values must be between -1023 and 1023. No sanity checks so far
  if (right_motor < 0) {
    right_motor = -right_motor;
    RightMotorBackward();
  }
  else
    RightMotorForward();


  if (left_motor < 0) {
    left_motor = -left_motor;
    LeftMotorBackward();
  }
  else
    LeftMotorForward();

  LPC_TMR16B0->MR0 = 0x3ff - left_motor;
  LPC_TMR16B1->MR0 = 0x3ff - right_motor;
}
Ejemplo n.º 2
0
void        TurnRight(){
                RightMotorBackward();
                LeftMotorForward();
        }
Ejemplo n.º 3
0
void        MoveBack(){
                RightMotorBackward();
                LeftMotorForward();
        }