/********************************************************************
* Function: void pureDataSetAnalog(unsigned char data[])
* Input: unsigned char data[]
* Output: None
* Overview: This function takes an array of size 3, which contains
* data encoded in a MIDI type of format, and uses it to
* set Analog values (10 bits) to Pins on the PIC. In this
* array the first byte, or data[0] gives information about
* the port and pin to address. data[1] contains the Most
* Significant byte (bits 9 and 8), while data[2] contains
* the Less Significant byte (bits 0 - 7).
* Refer to PINGUINO_PD_INTERFACE.xls for details on the
* messaging format.
* Note: None
*******************************************************************/
void pureDataSetAnalog(unsigned char data[]){
int channel = data[0] - SET_ANALOG_VALUE;
double setpoint;
#if defined(PIC32_PINGUINO) || defined(PIC32_PINGUINO_OTG)
switch (channel){
case 0:// PWM 0
setpoint = (256*data[1])+data[2];
analogwrite(D0, setpoint);
break;
case 1:// PWM 1
setpoint = (256*data[1])+data[2];
analogwrite(D1, setpoint);
break;
case 2:// PWM 2
setpoint = (256*data[1])+data[2];
analogwrite(D2, setpoint);
break;
case 3:// PWM 3
setpoint = (256*data[1])+data[2];
analogwrite(LED2, setpoint);
break;
}
#endif
}
/**
* Move forward
*/
void DCMotorBot::moveForward() {
analogwrite(mE1, mSpeed);
analogWrite(mE2, mSpeed);
delay(mDelay);
digitalWrite(mI1, HIGH);
digitalWrite(mI2, LOW);
digitalWrite(mI3, HIGH);
digitalWrite(mI4, LOW);
}
