motor_control.h File Reference

Interface to PWM motor controller. More...

#include "timer.h"
#include <avr/io.h>
#include <stdint.h>

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Macros
#define	LEFT_MOTOR   0
#define	RIGHT_MOTOR   1
#define	BOTH_MOTORS   2
#define	LEFT_ENC   1
#define	RIGHT_ENC   0
#define	MAX_BRAKE   255
#define	MC_PORT   PORTA
#define	FORWARD_LEFT   7
#define	FORWARD_RIGHT   5
#define	REVERSE_LEFT   6
#define	REVERSE_RIGHT   4
#define	PWM_LEFT   timer1PWMASet
#define	PWM_RIGHT   timer1PWMBSet

Functions
void	moveStraight (int16_t ticks, uint8_t speed)
void	tractorTurn (uint8_t speed, int8_t brads)
void	tankTurn (uint8_t speed, int8_t brads)
void	enableMotors (void)
void	disableMotors (void)
void	forward (uint8_t motorSelect, uint8_t speed)
void	reverse (uint8_t motorSelect, uint8_t speed)
void	neutral (void)
void	brake (uint8_t motorSelect)
void	tickWheels (int16_t leftTicks, int16_t rightTicks, uint8_t speed)

Detailed Description

Interface to PWM motor controller.

Author

Mike Shelley

Pinout: 2,3 Left motor control 6,7 Right motor control 5,4 motor enable, PWM outputs 5 - A, Right 4 - B, Left

Note

: Assumes motor enable is connected to PWM A,B defined in timer.h

Definition in file motor_control.h.