void wheel3(int pwm){
//REQUIRES: pwm_init() has been called
// Takes a number from -255 to 255 where 0 is stopped and
// 255 is full speed ahead
//EFFECTS: Modifies the speed of wheel3
if (pwm == 0){
PWM_disable(&motors, PWM_5);
PWM_disable(&motors, PWM_6);
}
else if (pwm > 0){
PWM_set_duty_cycle(&motors, PWM_5, pwm);
PWM_enable(&motors, PWM_5);
PWM_disable(&motors, PWM_6);
}
else {
pwm = pwm * -1;
PWM_set_duty_cycle(&motors, PWM_6, pwm);
PWM_enable(&motors, PWM_6);
PWM_disable(&motors, PWM_5);
}
return;
}
// Set the PWM pulse width
void PWM_width(uint16_t width) {
PWM_disable();
// Timer counter match value for pulse width (sec 18.7.7)
LPC_TMR16B0->MR0 = LPC_TMR16B0->MR1 - width;
PWM_enable();
}
