void SetPWM(u8 dutycycle){
T2CON=0x00;
SetPeriod();
SetDutyCycle(dutycycle);
IO_CONFIG_OUT(PWMport,PWMpin);
T2CON=0b110;
}
static char SetSpeed(int motor, unsigned int speed) {
// TODO add error checking
motorSpeed[motor] = speed;
//printf("\nPWM should be = %f", speed * 80.0);
/*
unsigned int pwm = 0;
if (speed > 0) {
#ifdef USE_BATPWM
int battery = (float)ReadADPin(BAT_VOLTAGE);
#else
int battery = 0;
#endif
float pwm_modifier = 100.0 * ((1.0 - 1.0*(battery/BAT_MAX)) * 2.15);
printf("\nMultiplier =%f", max((int)pwm_modifier, 0));
pwm = (unsigned int)(speed * 90.0 + max((int)pwm_modifier, 0));
//pwm = speed;
}
motorPWMValue[motor] = pwm;
//printf("\nPWM is=%i", pwm);
pwm = min(pwm, 1000);
pwm = max(pwm, 0);
*/
unsigned int pwm = speed;
motorPWMValue[motor] = pwm;
pwm = min(pwm, 1000);
pwm = max(pwm, 0);
SetDutyCycle(motorPWM[motor], speed);
}
//==========================================================================
// Class: PWMOutput
// Function: SetRange
//
// Description: Sets the PWM range (resolution). Default is 1024.
//
// Input Arguments:
// range = unsigned int
//
// Output Arguments:
// None
//
// Return Value:
// None
//
//==========================================================================
void PWMOutput::SetRange(unsigned int range)
{
assert(range <= maxRange);
pwmSetRange(range);
this->range = range;
SetDutyCycle(duty);
}
//==========================================================================
// Class: PWMOutput
// Function: PWMOutput
//
// Description: Constructor for PWMOutput class.
//
// Input Arguments:
// pin = int, represents hardware pin number according to Wiring Pi
// mode = PWMMode, indicating the style of PWM phasing to use
//
// Output Arguments:
// None
//
// Return Value:
// None
//
//==========================================================================
PWMOutput::PWMOutput(int pin, PWMMode mode) : GPIO(pin, DirectionPWMOutput)
{
SetDutyCycle(0.0);
SetMode(mode);
range = 1024;
// Set the frequency using the member method just in case something
// outside of the class manipulated it before-hand.
SetFrequency(pwmClockFrequency / range / minClockDivisor);
}
char RightMtrSpeed(char newSpeed) {
if ((newSpeed < -10) || (newSpeed > 10)) {
return (ERROR);
}
if (newSpeed < 0) {
RIGHT_DIR = 0;
RIGHT_DIR_INV = ~RIGHT_DIR;
newSpeed = newSpeed * (-1); // set speed to a positive value
} else {
RIGHT_DIR = 1;
RIGHT_DIR_INV = ~RIGHT_DIR;
}
if (SetDutyCycle(RIGHT_PWM, newSpeed * 100) == ERROR) {
return (ERROR);
}
return (SUCCESS);
}
char LeftMtrSpeed(char newSpeed) {
if ((newSpeed < -10) || (newSpeed > 10)) {
return (ERROR);
}
if (newSpeed < 0) {
LEFT_DIR = 0;
LEFT_DIR_INV = ~LEFT_DIR;
newSpeed = newSpeed * (-1); // set speed to a positive value
} else {
LEFT_DIR = 1;
LEFT_DIR_INV = ~LEFT_DIR;
}
if (SetDutyCycle(LEFT_PWM, newSpeed * 100) == ERROR) {
//puts("\aERROR: setting channel 1 speed!\n");
return (ERROR);
}
return (SUCCESS);
}
