/**
* Set motor speeds
* \param left_motor left motor speed ranging from 0 to 1023. Sign indicates rotation direction
* \param right_motor right motor speed ranging from 0 to 1023. Sign indicates rotation direction
*/
void HAL_set_motors(int16_t left_motor, int16_t right_motor) {
/// right motor and left motor values must be between -1023 and 1023. No sanity checks so far
if (right_motor < 0) {
right_motor = -right_motor;
RightMotorBackward();
}
else
RightMotorForward();
if (left_motor < 0) {
left_motor = -left_motor;
LeftMotorBackward();
}
else
LeftMotorForward();
LPC_TMR16B0->MR0 = 0x3ff - left_motor;
LPC_TMR16B1->MR0 = 0x3ff - right_motor;
}
void MoveSmallRight(){
LeftMotorForward();
RightMotorStop();
}
void TurnRight(){
RightMotorBackward();
LeftMotorForward();
}
void MoveBack(){
RightMotorBackward();
LeftMotorForward();
}
