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Ignore whitespace Rev 367 → Rev 368

/roboti/Robotour/SW/motor/motor.c
1,6 → 1,6
#include "motor.h"
//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1
#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2
//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2
 
#define H1 PIN_A1
#define L1 PIN_A2
7,13 → 7,13
#define H2 PIN_A3
#define L2 PIN_A4
 
signed int8 command;
signed int8 command; // rozsah +-127
 
#INT_SSP
void ssp_interupt ()
{
BYTE incoming, state;
 
output_low(H1);
output_low(L1);
output_low(H2);
23,10 → 23,10
 
if(state < 0x80) //Master is sending data
{
output_toggle(PIN_A0);
// output_toggle(PIN_A0);
command = i2c_read();
}
 
if(state == 0x80) //Master is requesting data
{
i2c_write(command);
36,23 → 36,27
 
void main()
{
int8 speed;
 
setup_adc_ports(NO_ANALOGS|VSS_VDD);
setup_adc(ADC_OFF);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
// setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_144MS);
setup_timer_1(T1_DISABLED);
setup_timer_2(T2_DISABLED,0,1);
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
setup_oscillator(OSC_8MHZ|OSC_INTRC);
 
enable_interrupts(GLOBAL);
enable_interrupts(INT_SSP);
 
command=0; // zastaveni po resetu
 
while(true)
{
 
if (0==command)
if ((0==command) || (command>127) || (command<-127)) // prikaz na odpojeni mustky nebo chybna hodnota
{
output_low(H1); // stop
output_low(H2);
60,25 → 64,38
output_low(L2);
continue;
};
if (command>0)
{
output_high(H1); // vpred
output_low(H2);
output_low(L1);
output_high(L2);
}
else
{
output_low(H1); // vzad
output_high(H2);
output_high(L1);
output_low(L2);
};
delay_us(abs(command));
output_low(H1);
 
speed=command+127; // posunuti 0 pro zaporna cisla
 
output_a(0b10010);
delay_us(speed);
output_a(0);
delay_us(1);
restart_wdt();
output_a(0b01100);
delay_us(254-speed);
output_a(0);
delay_us(1);
 
/*
output_high(H1); // vpred
output_high(L2);
delay_us(speed);
 
output_low(H1); // stop, aby se neseply tranzistory proti sobe!
output_low(H2);
output_low(L1);
output_low(L2);
 
output_high(H2); // vzad
output_high(L1);
delay_us(32-speed);
 
output_low(H1); // stop, aby se neseply tranzistory proti sobe!
output_low(H2);
output_low(L1);
output_low(L2);
*/
}
}