/*
 * 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();
}