h3n3/darkwater_cplus_640
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This commit is contained in:
shrkey
2016-10-09 22:39:10 +01:00
parent af917c9174
commit 7cf6027b80
2 changed files with 6 additions and 3 deletions
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7
darkwater/DW640.cpp
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@@ -195,7 +195,7 @@ void DW640::allOff() {
/* DC Motor specific code */
void DW640::setMotorSpeed(uint8_t motor, uint16_t speed) {
void DW640::setMotorSpeed(uint8_t motor, int16_t speed) {
uint8_t in1;
uint8_t in2;
@@ -267,17 +267,20 @@ void DW640::runMotor( uint8_t control, uint8_t in1, uint8_t in2, uint16_t speed
setPin( in1, 0 );
}
} else { // DW_ININ
printf( "here" );
if( control == DW_FORWARD ) {
printf( "FWD %d %d %d \n", speed, in1, in2 );
setPin( in2, 0 );
setPWM( in1, 0, speed * 16 );
} else if( control == DW_REVERSE ) {
printf( "REV %d %d %d \n", speed, in1, in2 );
setPin( in1, 0 );
setPWM( in2, 0, speed * 16 );
} else if( control == DW_STOP ) {
printf( "STP %d %d %d \n", speed, in1, in2 );
setPin( in1, 1 );
setPin( in2, 1 );
} else if( control == DW_COAST ) {
printf( "CST %d %d %d \n", speed, in1, in2 );
setPin( in1, 0 );
setPin( in2, 0 );
}

2
darkwater/DW640.h
View File

@@ -87,7 +87,7 @@ class DW640 {
void allOff();
void setMotorSpeed(uint8_t motor, uint16_t speed);
void setMotorSpeed(uint8_t motor, int16_t speed);
void setMotorOff(uint8_t motor);
void runMotor( uint8_t control, uint8_t in1, uint8_t in2, uint16_t speed );