From 1431438a2b0f3fafbafb61a4a15296164dadf5e1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Apr 2009 16:22:53 +0200 Subject: * digital/asserv: - added second auxiliary motor support. --- digital/asserv/src/asserv/pwm_ocr.avr.c | 32 ++++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) (limited to 'digital/asserv/src/asserv/pwm_ocr.avr.c') diff --git a/digital/asserv/src/asserv/pwm_ocr.avr.c b/digital/asserv/src/asserv/pwm_ocr.avr.c index 75857f10..25f2cfc7 100644 --- a/digital/asserv/src/asserv/pwm_ocr.avr.c +++ b/digital/asserv/src/asserv/pwm_ocr.avr.c @@ -95,35 +95,35 @@ pwm_ocr_update (void) # ifdef PWM1 uint16_t pwm1; /* Set PWM1. */ - if (PWM1.cur == 0) + if (PWM_VALUE (PWM1) == 0) { pwm1 = 0; } - else if (PWM1.cur < 0) + else if (PWM_VALUE (PWM1) < 0) { - pwm1 = -PWM1.cur; + pwm1 = -PWM_VALUE (PWM1); } else { dir_b |= _BV (PWM1_DIR); - pwm1 = PWM1.cur; + pwm1 = PWM_VALUE (PWM1); } # endif /* PWM1 */ # ifdef PWM2 uint16_t pwm2; /* Set PWM2. */ - if (PWM2.cur == 0) + if (PWM_VALUE (PWM2) == 0) { pwm2 = 0; } - else if (PWM2.cur < 0) + else if (PWM_VALUE (PWM2) < 0) { - pwm2 = -PWM2.cur; + pwm2 = -PWM_VALUE (PWM2); } else { dir_b |= _BV (PWM2_DIR); - pwm2 = PWM2.cur; + pwm2 = PWM_VALUE (PWM2); } # endif /* PWM2 */ #endif /* PWM1or2 */ @@ -134,35 +134,35 @@ pwm_ocr_update (void) # ifdef PWM3 uint16_t pwm3; /* Set PWM3. */ - if (PWM3.cur == 0) + if (PWM_VALUE (PWM3) == 0) { pwm3 = 0; } - else if (PWM3.cur < 0) + else if (PWM_VALUE (PWM3) < 0) { - pwm3 = -PWM3.cur; + pwm3 = -PWM_VALUE (PWM3); } else { dir_e |= _BV (PWM3_DIR); - pwm3 = PWM3.cur; + pwm3 = PWM_VALUE (PWM3); } # endif /* PWM3 */ # ifdef PWM4 uint16_t pwm4; /* Set PWM4. */ - if (PWM4.cur == 0) + if (PWM_VALUE (PWM4) == 0) { pwm4 = 0; } - else if (PWM4.cur < 0) + else if (PWM_VALUE (PWM4) < 0) { - pwm4 = -PWM4.cur; + pwm4 = -PWM_VALUE (PWM4); } else { dir_e |= _BV (PWM4_DIR); - pwm4 = PWM4.cur; + pwm4 = PWM_VALUE (PWM4); } # endif /* PWM4 */ #endif /* PWM3or4 */ -- cgit v1.2.3