First commit

1 files changed, 59 insertions, 0 deletions

diff --git a/2.3-1/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c b/2.3-1/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c
new file mode 100644
index 00000000..6e1c2caa
--- /dev/null
+++ b/2.3-1/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c
@@ -0,0 +1,59 @@
+/* Copyright (C) 2016 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution.  The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+#include "cmd_dcmotor_run.h"
+#include "Arduino.h"
+
+void u8cmd_dcmotor_runs(uint8 board_no, uint8 motor_no, int16 duty)
+{
+	uint8 direction = 1;
+    if(duty >= 0) 
+	{
+		direction = 1;
+	}
+    else  
+	{
+		direction = 0;
+		duty = -duty;
+	}
+
+	if(duty > 255) duty = 255;
+		
+	if (dcm_mode[motor_no] == 3)  //L293
+	{
+		if(direction == 1)
+		{
+			analogWrite(dcm_pin_1[motor_no],duty);		
+			analogWrite(dcm_pin_2[motor_no],0);
+		}
+		else
+		{
+			analogWrite(dcm_pin_2[motor_no],duty);		
+			analogWrite(dcm_pin_1[motor_no],0);
+		}
+	}
+	else
+	{
+		if(direction == 1)
+		{
+			digitalWrite(dcm_pin_1[motor_no],HIGH);		
+			digitalWrite(dcm_pin_2[motor_no],LOW);
+		}
+		else
+		{
+			digitalWrite(dcm_pin_2[motor_no],HIGH);		
+			digitalWrite(dcm_pin_1[motor_no],LOW);
+		}
+	}
+
+}
+