void keydo(uint8 keyc) { static bit t=0; if(keyc<=0x39&&keyc>=0x30) { if(t==0) motor_set((keyc-'0')*360,0); else motor_set((keyc-'0')*360,1); } if(keyc==0x1b) { motorstop(); } if(keyc==0x25) { t=1; } if(keyc==0x27) { t=0; } if(keyc==0x26) { motor_set(90,0); } if(keyc==0x28) { motor_set(90,1); } if(keyc==0x0D) { motor_set(99999999,t); } }
void motorcitos_init() { /* * set mapped L283D motor1 and motor 2 enable pins on Arduino to output * (to turn on/off motor1 and motor2 via L293D) */ pinMode(enablePin1, OUTPUT); pinMode(enablePin2, OUTPUT); /* set mapped motor poles to Arduino pins (via L293D) */ pinMode(motor1pole1, OUTPUT); pinMode(motor1pole2, OUTPUT); pinMode(motor2pole1, OUTPUT); pinMode(motor2pole2, OUTPUT); motorspeed(0, 0); motorstop(2); motorstop(1); }
void motormove() { static uint8 i=0; if(step==0){motorstop();return ;} if(step>0) { step--; P1&=0XF0; P1|=motorcode[i]; i++; i&=0x07; } else if(step<0) { if(i==0)i=8; step++; P1&=0XF0; P1|=motorcode[i-1]; i--; } }