diff options
Diffstat (limited to '2.3-1/src/c/scilab-arduino/cmd_dcmotor_run')
| -rw-r--r-- | 2.3-1/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c | 59 |
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); + } + } + +} + |