示例#1
0
void motor1SetSpeed(int speed)
{
	speed = limitSpeedMax(speed);

	//if ((speed <2) && (speed> -2))	motor1Forward(0);  // Break by putting both H-Bridge sides High
	if (speed >= 0) motor1Forward(speed);
	if (speed < 0)  motor1Reverse(-speed);
}
示例#2
0
void Key_Scan1(void)
{
	switch(Key_Scan_Steps1)
	{
		case 0:
			if(keyMotor1Forward == 0 || keyMotor1Backward == 0 || keyMotor2Copy == 0)
			{
			   	Key_Scan_Steps1 = 1;
			}
		break;
		case 1:
			if(keyMotor1Forward == 0 || keyMotor1Backward == 0 || keyMotor2Copy == 0)
			{
			   	Key_Scan_Steps1 = 2;
			}
			else
			{
				Key_Scan_Steps1 = 0;
			}
		break;
		case 2:
			if(keyMotor1Forward == 0)
			{
				motor1Forward();
			}
			else if(keyMotor1Backward == 0)
			{
				motor1Backward();
			}
			else if(keyMotor2Copy == 0)
			{
				motor2Copy();
			}
			Key_Scan_Steps1 = 3;
		break;
		case 3:
			if(keyMotor1Forward == 1 && keyMotor1Backward == 1 && keyMotor2Copy == 1)
			{
			   	Key_Scan_Steps1 = 0;
			}
		break;
		default:
			 _nop_();
	}
}
void CompactQik2s9v1::stopMotor1()
{
	motor1Forward(0);
}
示例#4
0
int main(void)
{
        pinIO();
        
        serialSetupUSB();
        serialSetupP2P();
        timerSetup();
        //pwmSetup();
        setupA2D();
        motorSetup();
        encSetup();
        int motor1;
        //int motor1speed = 200;
        int motor2speed = 200;
        char targetVelocity1 = 0;
        char currentVelocity;
        float pop;
        char error = 0;
    
    
    //infinete loop in which we count
    while(1)
    {
        //currentVelocity = velocityGet();

        
        motor1 = motorSet(39);
        motor1 = 200;

        //targetVelocity1 = 30;

        //error = targetVelocity1 - currentVelocity;
       //int test
       /* if (currentVelocity > targetVelocity1)
        {
            if(motor1speed > 0)
            {
            motor1speed -=2;
            } else {
                motor1speed = 0;
            }
        } else if (currentVelocity < targetVelocity1)
        {
            if(motor1speed < 798)
            {
            motor1speed +=2;
            } else {
                motor1speed = 798;
            }
            //motor1speed = 798*(float)(1-(float)(currentVelocity / targetVelocity1));
        }*/
        

        motor1Forward(motor1);
        motor2Forward(motor2speed);

        
    } //remain here forever, never end the main function.
        
    return 0; //we should never really return
}