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authorschodet2006-01-17 16:39:17 +0000
committerschodet2006-01-17 16:39:17 +0000
commit435b5a9adaa251e8d72ccf5b744db80296b30908 (patch)
treebbb366c0826073f4a4111b2a5af4a295180aee8c /n/asserv/src/asserv/counter.c
parent1e15fde47f958a7564c45e852bbb7e9b2c31a3ce (diff)
Ouh lala, plein de modifs, dont l'ajout d'un modèle de moteur à courant
continue, le changement du PID, de la PWM et l'ajout de commandes dans main.
Diffstat (limited to 'n/asserv/src/asserv/counter.c')
-rw-r--r--n/asserv/src/asserv/counter.c8
1 files changed, 4 insertions, 4 deletions
diff --git a/n/asserv/src/asserv/counter.c b/n/asserv/src/asserv/counter.c
index 6ac2cea..c4135b4 100644
--- a/n/asserv/src/asserv/counter.c
+++ b/n/asserv/src/asserv/counter.c
@@ -85,12 +85,12 @@ SIGNAL (SIG_INTERRUPT4)
if (PINE & _BV (4))
{
counter_left_rev += c - counter_left_old;
- PORTD |= 0x40;
+ GREEN_LED (!COUNTER_REVERSE_LEFT);
}
else
{
counter_left_frw += c - counter_left_old;
- PORTD &= ~0x40;
+ GREEN_LED (COUNTER_REVERSE_LEFT);
}
counter_left_old = c;
}
@@ -103,12 +103,12 @@ SIGNAL (SIG_INTERRUPT5)
if (PINE & _BV (5))
{
counter_right_rev += c - counter_right_old;
- PORTD |= 0x20;
+ RED_LED (!COUNTER_REVERSE_RIGHT);
}
else
{
counter_right_frw += c - counter_right_old;
- PORTD &= ~0x20;
+ RED_LED (COUNTER_REVERSE_RIGHT);
}
counter_right_old = c;
}