void set_motor_duty_pct (uint8_t duty)
{
if (duty > 100)
duty = 100;
set_motor_duty ((uint16_t)(((uint32_t)duty * (uint32_t)ICR1) / 100));
}
BOOL parse_speed_command( char* mIncoming )
{
char expression[] = "^motor speed:([vV]\\d+)? ?([wW]\\d+)? ?([xX]\\d+)? ?([yY]\\d+)? ?([zZ]\\d+)?";
BOOL is_speed_command = strcmp(mIncoming, "motor speed");
byte which = which_motors(mIncoming);
float fraction=0.0;
for (int b=0; b<NUM_MOTORS; b++)
{
if (is_in_set(which, b) )
set_motor_duty( b, fraction );
}
form_response("ACK: speed request");
return is_speed_command;
}
BOOL parse_home_command( char* mIncoming )
{
char expression = "home ([vV])? ([wW])? ([xX])? ([yY])? ([zZ])?";
int match = re_match( 2, Captures, expression, mIncoming );
BOOL is_speed_command = strcmp(mIncoming, "HOME:");
byte which = which_motors(mIncoming);
for (int b=0; b<NUM_MOTORS; b++)
{
if (is_in_set(which, b) )
set_motor_duty( b, HOMING_SPEED );
}
form_response("ACK: homing...");
return is_speed_command;
}
BOOL parse_measure_travel( char* mIncoming )
{
char expression = "measure travel";
int match = re_match( 2, Captures, expression, mIncoming );
BOOL is_speed_command = strcmp(mIncoming, "measure travel");
byte which = which_motors(mIncoming);
for (int b=0; b<NUM_MOTORS; b++)
{
if (is_in_set(which, b) )
set_motor_duty( b, HOMING_SPEED );
}
// Don't wait until further limit switches triggered, just ack the cmd:
form_response( "ACK measuring travel..." );
return is_speed_command;
}
void set_motor_raw_PWM (const uint16_t pwm)
{
set_motor_duty(pwm);
}
void set_motor_duty_8bit (uint8_t duty)
{
set_motor_duty ((uint16_t)(((uint32_t)duty * (uint32_t)ICR1) / 256));
}
