/* * File: motor.c * Author: Judy Stephen (jls633), John Draikiwicz (jwd94) * Contains code to control motors on the robot * * Created on: November 21, 2016 * Last Updated: November 21, 2016 * ECE 4760 Fall 2016 * * Target PIC: PIC32MX250F128B */ #include "motor.h" void stop_wheels(void){ stop_left_wheel(); stop_right_wheel(); } void straight_fwd_wheels(void) { forward_right_wheel(); forward_left_wheel(); } void straight_bwd_wheels(void) { backward_right_wheel(); backward_left_wheel(); } void stop_left_wheel(void){ SetDCOC2PWM(0); SetDCOC1PWM(0); } void forward_left_wheel(void) { SetDCOC1PWM(1500); SetDCOC2PWM(0); } void backward_left_wheel(void) { SetDCOC1PWM(0); SetDCOC2PWM(1500); } void stop_right_wheel(void) { SetDCOC3PWM(0); SetDCOC4PWM(0); } void forward_right_wheel(void) { SetDCOC3PWM(1500); SetDCOC4PWM(0); } void backward_right_wheel(void) { SetDCOC3PWM(0); SetDCOC4PWM(1500); } void move_left(void) { forward_right_wheel(); backward_left_wheel(); } void move_right(void) { forward_left_wheel(); backward_right_wheel(); }