void scissorMotorControl(double direction, double speed) { set_up_pwm(); double dirInRads = (direction * M_PI) / 180.0; double dutyCycle1 = (speed * cos(((150.0 * M_PI) / 180.0) - dirInRads)); //uint16_t direction1 = (dutyCycle1 > 0.0) ? 1 : 0; dutyCycle1 = (dutyCycle1 < 0.0) ? (dutyCycle1 * -1.0) : dutyCycle1; set_duty_cycle(dutyCycle1); }
int main(void) { init_timers(); init_ports(); set_up_pwm(); UC0IE |= UCA0RXIE; // Enable USCI_A0 RX interrupt - Enable UART Recieve Commands __bis_SR_register(GIE); while (1){ } }