48 lines
1.3 KiB
C
48 lines
1.3 KiB
C
#include "motor.h"
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#include "pwm.h"
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#include "inc/msp432p401r.h"
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// Initialize GPIO pins for output, which will be
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// used to control the direction of the motors and
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// to enable or disable the drivers.
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// The motors are initially stopped, the drivers
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// are initially powered down, and the PWM speed
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// control is uninitialized.
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void MotorInit(void) {
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// write this code
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}
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// Stop the motors, power down the drivers, and
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// set the PWM speed control to 0% duty cycle.
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void MotorStop(void) {
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P2->OUT &= ~0xC0; // off
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P3->OUT &= ~0xC0; // low current sleep mode
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SetPWMDutyLeftMotor(0);
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SetPWMDutyRightMotor(0);
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}
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// Left and right wheels forward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorForward(uint16_t left_duty, uint16_t right_duty) {
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// write this code
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}
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// Left and right wheels backward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorBackward(uint16_t left_duty, uint16_t right_duty) {
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// write this code
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}
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// Left wheel backward, right wheel forward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorLeft(uint16_t left_duty, uint16_t right_duty) {
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// write this code
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}
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// Left wheel forward, right wheel backward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorRight(uint16_t left_duty, uint16_t right_duty) {
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// write this code
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}
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