From 8bd69b19eb8958e25d654cd17ce9e165012baa0a Mon Sep 17 00:00:00 2001 From: Guillaume Chevillot Date: Mon, 10 Mar 2008 20:54:40 +0100 Subject: - Add support of 'w' command - 'r' command works correctly now --- analog/motor-power-avr/src/main.c | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) (limited to 'analog/motor-power-avr/src') diff --git a/analog/motor-power-avr/src/main.c b/analog/motor-power-avr/src/main.c index ce76fe43..cccdd6a5 100644 --- a/analog/motor-power-avr/src/main.c +++ b/analog/motor-power-avr/src/main.c @@ -198,14 +198,28 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) cmd_R_ = (int8_t) args[0]; if (cmd_R_ >= 0) { - start_motor_L_ ((cmd_L_ << 1) , 0); + start_motor_R_ ((cmd_R_ << 1) , 0); } else { - start_motor_L_ (((-cmd_L_) << 1), 1); + start_motor_R_ (((-cmd_R_) << 1), 1); } break; + case c ('w', 0): + /* Set zero pwm. */ + start_motor_L_ ( 0, 0); + start_motor_R_ ( 0, 0); + break; + + case c ('w', 4): + /* Set pwm. + * - w: left pwm. + * - w: right pwm. */ + start_motor_L_ ( v8_to_v16 (args[0], args[1]) >> 7, (int8_t)args[0] < 0); + start_motor_R_ ( v8_to_v16 (args[2], args[3]) >> 7, (int8_t)args[2] < 0); + break; + case c ('e', 0): /* Get environnemental test results */ //TODO -- cgit v1.2.3