C++ (Cpp) motor_set_dir Examples

Example #1

File: motor.c Project: haukepetersen/Petabot

void motor_set_dir_all(motor_dir_t dir)
{
	motor_set_dir(MOTOR_1, dir);
	motor_set_dir(MOTOR_2, dir);
	motor_set_dir(MOTOR_3, dir);
	motor_set_dir(MOTOR_4, dir);
}

Example #2

File: motor.c Project: haukepetersen/Petabot

void motor_set(motor_chan_t motor, int16_t speed)
{
	if (speed < 0) {
		speed = speed * -1;
		motor_set_dir(motor, MOTOR_FW);
	} else {
		motor_set_dir(motor, MOTOR_BW);
	}
	speed = (speed > MOTOR_SPEED_MAX) ? MOTOR_SPEED_MAX : speed;
	motor_set_speed(motor, speed);
}

Example #3

File: motor.c Project: haukepetersen/Petabot

void motor_set_cmd(uint8_t chan, uint8_t mode, uint8_t speed)
{
	uint16_t s = ((float)speed / 255) * 1000;
	if (mode == 2) { // fw
		motor_set_dir(chan, MOTOR_FW);
		motor_set_speed(MOTOR_1, s);
	} else if (mode == 1) { // bw
		motor_set_dir(chan, MOTOR_BW);
		motor_set_speed(MOTOR_1, s);
	} else if (mode == 3) { // brake
		motor_set_dir(chan, MOTOR_BRAKE);
		motor_stop(MOTOR_1);
	}
}

Example #4

File: main.c Project: AnotherKamila/vlaciky

void set_output(state st) {
    motor_set_dir(st.speed < 0);
    motor_set_speed(((uint16_t)abs(st.speed)) >> 8);
    led_set_brightness(st.light >> 8);
}

Example #5

File: main.c Project: rxdtxd/stepper-lights

int main (void) {
    uint8_t bu, bd;      // buttons up, buttons down (read-in buffers)
    uint8_t i;           // iterator
    uint8_t adcchan = 0;

    uint8_t ramp;
    uint16_t cycle;
    
    motor_t motor[NMOTORS];

    for (i = 0; i < NMOTORS; i++) {
	motor[i].isrunning = false;
	motor[i].position = 0;
	motor[i].bu = false;
	motor[i].bd = false;
	motor[i].pot = 0;
	motor[i].trgspeed = SPEEDMIN;
	motor[i].curspeed = SPEEDMIN;
	motor[i].counter = 0;
    }
    
    led_init();
    spi_init();
    adc_init();
    motors_init();

    /* // debug */
    /* uart_init(); */
    /* stdout = &uart_output; */

    adc_set_chan(adcchan);
    adc_start();

    while (1) {
	led_off();
	
	// keep the ADC running "in background"
	if ( !( adc_is_running() )) {
	    motor[adcchan].pot = adc_get();

	    if (motor[adcchan].bu != motor[adcchan].bd) {
		motor[adcchan].trgspeed =
		    motor_scale_speed(motor[adcchan].pot);
	    } else {
		motor[adcchan].trgspeed = SPEEDMIN;
	    }

	    adcchan++;
	    if (adcchan >= 5) adcchan = 0;

	    // HACK: lame jumpers
	    if (adcchan == 0) adc_set_chan(6);
	    if (adcchan == 1) adc_set_chan(1);
	    if (adcchan == 2) adc_set_chan(2);
	    if (adcchan == 3) adc_set_chan(3);
	    if (adcchan == 4) adc_set_chan(7);

	    adc_start();
	}

	// read in buttons
	shiftreg_load();
	bu = spi_transmit(SPI_TRANSMIT_DUMMY);
	bd = spi_transmit(SPI_TRANSMIT_DUMMY);
	for (i = 0; i < NMOTORS; i++) {
	    motor[i].bu = bit_is_set(bu, i) ? true : false;
	    motor[i].bd = bit_is_set(bd, i) ? true : false;

	    // both buttons pressed
	    if (motor[i].bu && motor[i].bd) {
		led_on();
		motor[i].trgspeed = SPEEDMIN;
	    }
	    
	    if (motor[i].bu != motor[i].bd) {
		motor[i].isrunning = true;
		
		// set dir
		if (motor[i].bu) {
		    motor_set_dir(i, DIR_UP);
		} else if (motor[i].bd) {
		    motor_set_dir(i, DIR_DOWN);
		}
	    }
	    // allow ramp-down
	    else if (motor[i].curspeed != motor[i].trgspeed) {
		motor[i].isrunning = true;
	    }
	    // mark as ok-to-stop
	    else if (motor[i].curspeed == SPEEDMIN) {
		motor[i].isrunning = false;
	    }
	}
       

	for (ramp = 0; ramp < RAMPCYCLES; ramp++) {
	    // push current speed towards target
	    for (i = 0; i < NMOTORS; i++) {
		if (motor[i].curspeed < motor[i].trgspeed) {
		    motor[i].curspeed += 1;
		}
		if (motor[i].curspeed > motor[i].trgspeed) {
		    motor[i].curspeed -= 1;
		}
	    }

	    // run at current speed
	    for (cycle = 0; cycle < RUNCYCLES; cycle++) {
		for (i = 0; i < NMOTORS; i++) {		
		    // either button pressed or ramp-down
		    if (motor[i].isrunning) {
			if (motor[i].counter > 0) {
			    motor[i].counter -= 1;
			} else {
			    // reset counter
			    motor[i].counter = motor[i].curspeed;
			    motor_step(i);
			}
		    }
		}
	    }
	}
    }
    return 0;
}

Example #6

File: motor.c Project: haukepetersen/Petabot

void motor_full_bw(motor_chan_t motor)
{
	motor_set_dir(motor, MOTOR_BW);
	motor_set_speed(motor, MOTOR_SPEED_MAX);
}