void motor(int left, int right)
{
/*#############################################################################################################################################################################
** Functia motor este functia de control al motoarelor.
**Aceasta functie ia ca si argument vitezele celor doua motoare(-65535 -> 65535), iar in cazul in care viteza este negativa robotul va merge inapoi.
**Pasii pe care ii urmeaza:
** --seteaza pinii corespunzatori motoarelor ca pini de output
** --daca viteza motorului din stanga/dreapta este negativa sa inverseaza directia
** --scade din viteza maxima viteza data deoarece 65535 este valoarea pentru viteza 0, iar 0 este valoarea pentru viteza 65535, astfel inversand valorile pentru viteza
**#############################################################################################################################################################################*/
const int maxspd=65535;
sens_dreapta_SetOutput();
sens_stanga_SetOutput();
if(left>0)
{
sens_stanga_PutVal(1);
}
else
{
sens_stanga_PutVal(0);
left=-left;
}
if(right>0)
{
sens_dreapta_PutVal(1);
}
else
{
sens_dreapta_PutVal(0);
right=-right;
}
PWM_stanga_SetRatio16(maxspd - left);
PWM_dreapta_SetRatio16(maxspd - right);
PWM_stanga_Enable();
PWM_dreapta_Enable();
}
void setLeftMotorSpeed(uint16 speed){
uint16_t value;
if (speed > 100)
value = 100;
else
value = speed;
value = 0xFFFF - (value*0xFFFF)/100;
sens_stanga_PutVal(0);
PWM_stanga_SetRatio16(value);
}
