From 435b5a9adaa251e8d72ccf5b744db80296b30908 Mon Sep 17 00:00:00 2001 From: schodet Date: Tue, 17 Jan 2006 16:39:17 +0000 Subject: 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. --- n/asserv/src/asserv/counter.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'n/asserv/src/asserv/counter.c') 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; } -- cgit v1.2.3