//0 is to the right, and position increases leftward
void motor_crude_controller(uint16_t current_position, uint16_t reference){
//if requested position is out of reach
if(reference > max_left){
motor_crude_controller(max_left, reference);
}
//if we're close to ref
if(abs(current_position - reference) < 300){
motor_speed(0);
return;
}
//too far left
if(current_position > reference){
motor_direction(right);
motor_speed(100);
}
//too far right
else{
motor_direction(left);
motor_speed(100);
}
}
void motor_test(void){
motor_direction(right);
_delay_ms(500);
motor_direction(left);
_delay_ms(500);
}
//MOTOR SPEED NEEDS TO BE TUNED FOR INDIVIDUAL GAME BOARD
void motor_controller_calibrate_by_reset(){
uint8_t speed = 65;
motor_init();
uint16_t position;
uint16_t prev_position;
motor_speed(speed);
motor_direction(right);
_delay_ms(150);
position = motor_encoder_read();
//go right until stopped, then set encoder to zero
while(position != prev_position){
position = motor_encoder_read();
_delay_ms(100);
prev_position = position;
position = motor_encoder_read();
printf("position: %u\tPrev: %u\n", position, prev_position);
}
motor_encoder_reset();
motor_speed(speed);
motor_direction(left);
_delay_ms(150);
//go left until stopped, set max left to current position
do{
position = motor_encoder_read();
_delay_ms(100);
prev_position = position;
position = motor_encoder_read();
printf("position: %d\n", position);
} while(position != prev_position);
max_left = position;
motor_speed(0);
motor_speed(speed);
motor_direction(right);
_delay_ms(100);
while(motor_encoder_read() > 4500){
_delay_ms(100);
}
}
//negative speed to the right to make transition to encoder values easier
void motor_speed_direction(int16_t speed){
if(speed < 0){
motor_direction(right);
}
else{
motor_direction(left);
}
motor_speed(abs(speed));
}
void motor_speed(int16_t speed){
if (speed > 0) { motor_direction(MOTOR_LEFT); }
else { motor_direction(MOTOR_RIGHT); }
speed = abs(speed);
if (speed > MOTOR_MAX_SPEED) { speed = MOTOR_MAX_SPEED; }
//else if (speed < MOTOR_MIN_SPEED) { speed = 1; }
max520_write(MAX520_CHANNEL_MOTOR, (uint8_t)speed);
}
void motor_speed_direction_cap(int16_t speed, uint8_t cap){
if(speed < 0){
motor_direction(right);
}
else{
motor_direction(left);
}
if(abs(speed) > cap){
motor_speed(abs(cap));
}
}
void motor_speed(int16_t speed){
if(speed > 0){
motor_direction(right);
}
else{
motor_direction(left);
speed = abs(speed);
}
if(speed > max_speed){
speed = max_speed;
}
dac_write(0, speed);
}
