/** Control motor from -255 to +255.
@param motor
@param duty
@param direction */
void motor_set_one(byte motor, byte duty, byte direction)
{
if (motor == MOTOR_LEFT && direction == MOTOR_FWD)
{
LEFT_DUTY = duty;
// BE CAREFUL!!
// Set low before high otherwise you'll make
// a short circuit inside the driver.
pio_output_low(MOTOR_PIN_L_RVSE);
pio_output_high(MOTOR_PIN_L_FWD);
}
else if (motor == MOTOR_LEFT && direction == MOTOR_RVSE)
{
LEFT_DUTY = duty;
// BE CAREFUL!!
// Set low before high otherwise you'll make
// a short circuit inside the driver.
pio_output_low(MOTOR_PIN_L_FWD);
pio_output_high(MOTOR_PIN_L_RVSE);
}
else if (motor == MOTOR_RIGHT && direction == MOTOR_FWD)
{
RIGHT_DUTY = duty;
// BE CAREFUL!!
// Set low before high otherwise you'll make
// a short circuit inside the driver.
pio_output_low(MOTOR_PIN_R_RVSE);
pio_output_high(MOTOR_PIN_R_FWD);
}
else if (motor == MOTOR_RIGHT && direction == MOTOR_RVSE)
{
RIGHT_DUTY = duty;
// BE CAREFUL!!
// Set low before high otherwise you'll make
// a short circuit inside the driver.
pio_output_low(MOTOR_PIN_R_FWD);
pio_output_high(MOTOR_PIN_R_RVSE);
}
}
void process_command( char * string )
{
if ( strcmp( "on", string ) == 0 )
{
pio_output_high(PIO_LED_Y);
}
else if (strcmp("off", string) == 0 )
{
pio_output_low(PIO_LED_Y);
}
}
uint8_t adc_measure(uint8_t adc_channel)
{
uint8_t count;
count = 0;
/* Select desired channel. */
ACMUX = adc_channel - 1;
pio_output_high (ADC_CHARGE_PIO);
while (! (ACSR & BIT(ACO)))
count++;
pio_output_low (ADC_CHARGE_PIO);
return count;
}
