void TIM3_IRQHandler()
{
// Checks whether the TIM3 interrupt has occurred or not
if (TIM_GetITStatus(TIM3, TIM_IT_Update))
{
// Read ADC value (10-bit PWM)
adcValue = ADC_Read() >> 2;
// Add audio effect
if (effect & LOW_PASS)
{
adcValue = low_pass(adcValue);
}
if (effect & PITCH_UP)
{
adcValue = pitch_up(adcValue);
}
if (effect & PITCH_DOWN)
{
adcValue = pitch_down(adcValue);
}
// Write to PWM
PWM_Write(adcValue);
// Clears the TIM3 interrupt pending bit
TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
}
}
//This function writes a speed to the left motor, which operates on PWM1 and PWM2
void LeftMotor_Write(int speed)
{
speed = 0-speed;
if(speed > 0)
{
PWM_Write(PWM1, speed);
PWM_WriteDir(PWM1, FORWARD);
}
else if(speed < 0)
{
PWM_WriteDir(PWM1, BACKWARD);
PWM_Write(PWM1, 1023 + speed);
}
else
{
PWM_Write(PWM1, 0);
PWM_WriteDir(PWM1, FORWARD);
}
}
void RightMotor_Write(int speed)
{
speed = 0-speed;
if(speed > 0)
{
PWM_Write(PWM2, speed);
PWM_WriteDir(PWM2, FORWARD);
}
else if (speed < 0)
{
PWM_WriteDir(PWM2, BACKWARD);
PWM_Write(PWM2, 1023 + speed);
}
else
{
PWM_Write(PWM2, 0);
PWM_WriteDir(PWM2, FORWARD);
}
}
void dutyCycleTest(int testNum) {
switch (testNum) {
case 1:
PWM_Write(PWM2+PWM1, 127);
delayUs(2000000);
break;
case 2:
PWM_Write(PWM2+PWM1, 255);
delayUs(2000000);
break;
case 3:
PWM_Write(PWM2+PWM1, 511);
delayUs(2000000);
break;
case 4:
PWM_Write(PWM2+PWM1, 767);
delayUs(2000000);
break;
case 5:
PWM_Write(PWM2+PWM1, 1023);
delayUs(2000000);
break;
}
}
void motorsOff()
{
PWM_Write(PWM1+PWM2, 0);
PWM_WriteDir(PWM1+PWM2, FORWARD);
}
