void bl3_motor_step(BL3MotorFD motor)
{
BL3Motor * mymot = bl3_motors->motors[motor];
bl3_motor_turn_off(motor);
analog_write(mymot->pin_current, mymot->current);
switch(mymot->status)
{
case (0):
{
write_pin(mymot->pin_1_H, HIGH);
write_pin(mymot->pin_2_L, HIGH);
mymot->status++;
}break;
case (1):
{
write_pin(mymot->pin_3_H, HIGH);
write_pin(mymot->pin_2_L, HIGH);
mymot->status++;
}break;
case (2):
{
write_pin(mymot->pin_3_H, HIGH);
write_pin(mymot->pin_1_L, HIGH);
mymot->status++;
}break;
case (3):
{
write_pin(mymot->pin_2_H, HIGH);
write_pin(mymot->pin_1_L, HIGH);
mymot->status++;
}break;
case (4):
{
write_pin(mymot->pin_2_H, HIGH);
write_pin(mymot->pin_3_L, HIGH);
mymot->status++;
}break;
case (5):
{
write_pin(mymot->pin_1_H, HIGH);
write_pin(mymot->pin_3_L, HIGH);
mymot->status = 0;
}break;
default:
{
// not good :-0
mymot->status = 0;
}
}
}
int main(void)
{
setup();
while(1)
{
x = x + PI * 0.01;
if(x >= PI)x = 0;
y = 2000 - (sin(x) + 1) * 1000;
analog_write(&PB8, y);
delay_ms(10);
}
}
