diff options
Diffstat (limited to 'src/c/scilab-arduino/cmd_dcmotor_run')
| -rw-r--r-- | src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c | 59 |
1 files changed, 59 insertions, 0 deletions
diff --git a/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c b/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c new file mode 100644 index 00000000..93905c94 --- /dev/null +++ b/src/c/scilab-arduino/cmd_dcmotor_run/u8cmd_dcmotor_runs.c @@ -0,0 +1,59 @@ +/* + * Scilab ( http://www.scilab.org/ ) - This file is part of Scilab + * Copyright (C) 2008 - INRIA - Arnaud TORSET + * + * 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 + * + */ + +#include "cmd_dcmotor_run.h" + +uint8 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); + } + } + + return 0; +} + |