void right_turn ()
{
float speed1 = mraa_pwm_read(pwm1);
float speed2 = mraa_pwm_read(pwm2);
if (speed1 == speed2) {
mraa_pwm_write(pwm2, speed2/3);
}
else if (speed2 > speed1) {
mraa_pwm_write(pwm1, speed2);
mraa_pwm_write(pwm2, speed1);
}
}
FskErr mraaPWMGetDutyCycleAndPeriod(FskPinPWM pin, UInt8 *dutyCycle, UInt8 *period)
{
mraaPWM mpwm = (mraaPWM)pin;
float value, dc;
value = mraa_pwm_read(mpwm->context);
dc = mpwm->period * value;
*dutyCycle = dc;
*period = mpwm->period;
return kFskErrNone;
}
/**
* Read the ouput duty-cycle percentage, as a float
*
* @return A floating-point value representing percentage of
* output. The value should lie between 0.0f (representing on 0%) and
* 1.0f Values above or below this range will be set at either 0.0f or
* 1.0f
*/
float
read()
{
return mraa_pwm_read(m_pwm);
}
FskErr mraaPWMGetDutyCycle(FskPinPWM pin, double *value)
{
mraaPWM mpwm = (mraaPWM)pin;
*value = mraa_pwm_read(mpwm->context);
return kFskErrNone;
}
