bool Move() //set movement speed.
{
//8=normal (will set default in Tuning.h)
int actspeed= ILeftSpeed * MAX_DUTY / 16;
WritePWM(LeftDrive,PERIOD,actspeed);
actspeed=IRightSpeed * MAX_DUTY / 16;
}
void Led::StopStrobe() {
isStrobing = false;
strobe_times_remain = 0;
isOn = strobe_isOn_before;
WritePWM();
}
void Led::Loop() {
CalculateFade();
CalculateStrobe();
CalculateFadeOnOff();
WritePWM();
}
void Led::SetBrightness(uint8_t brightness) {
if (IsFading())
StopFade();
brightness = constrain(brightness, 0, 255);
this->brightness = brightness;
WritePWM();
}
void Led::TurnOff() {
fadeOnOff_current_brightness = 0;
fadeOnOff_time_remain = 0;
if (IsStrobing()) {
strobe_isOn_before = false;
StopStrobe();
}
else
{
isOn = false;
WritePWM();
}
}
//////////////////////////////////////////////////////////////////////////////////
/// name: main
/// params: none
/// return: int
/// desc: calls the initialization of variables/hardware, and contains
/// the main loop with all active functionality
int main(void)
{
// initialize ports for buttons and LED, PWM receiving, and PWM writing
intialization();
while ( ! NULL )
{
// read in button value (push on, push off)
readbutton();
// read incoming PWM signal for arm extension
ReadPWM(PWM_IN_1);
// read incoming PWM signal for arm extension
// ReadPWM(PWM_IN_2);
// set the motor state based on PWM frequency
InterpretPWM();
// write to the motor depending on current state
WritePWM();
}
}
