/* motor.c */ /* Motor control. {{{ * * Copyright (C) 2012 Florent Duchon * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "print.h" #include "motor.h" #include "codewheel.h" motor_s motor; /* This function initializes the motor control output */ void motor_init(void) { /* Select ouptut */ DDRB |= (1<= MOTOR_SPEED_MAX) OCR0A = MOTOR_SPEED_MAX; else if(value <= MOTOR_SPEED_STOP) OCR0A = MOTOR_SPEED_STOP; else OCR0A = value; } /* This function returns the motor speed in raw format */ uint8_t motor_get_speed_raw() { return OCR0A; } /* This function returns the motor state */ TMotor_state motor_get_state(void) { if(OCR0A > MOTOR_SPEED_MIN) return MOTOR_IN_ROTATION; else return MOTOR_STOPPED; } /* This function starts or stops the motor according to the current state */ void motor_start_stop_control(void) { if(motor_get_state() == MOTOR_IN_ROTATION) { motor_stop(); } else { motor_start(); } } /* This function sets the target speed */ void motor_set_target_speed(uint8_t value) { motor.target_speed = value; } /* This function returns the target speed */ uint8_t motor_get_target_speed() { return motor.target_speed; } /* This function control the motor speed accroding to target speed requested */ void motor_control_speed(uint16_t time) { int16_t diff = 0; int16_t correction = 0; diff = motor_get_target_speed() - time; if(diff > 15) correction = motor_get_speed_raw() - 5; else if (diff < -15) correction = motor_get_speed_raw() + 5; else correction = motor_get_speed_raw(); motor_set_speed(correction); } ISR(TIMER0_COMPA_vect) { }