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motor.c
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motor.c
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#include "motor.h"
void TEST_set_all_motor_high(){
int test = 0;
GPIO_setOutputHighOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputHighOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputHighOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputHighOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
GPIO_setOutputHighOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputHighOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputHighOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputHighOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
while(1)
{
test++;
displayScrollText("SPIN");
}
}
int move_x_motor(uint8_t quarterRotations, uint8_t dir, MOVE_DIRECTION moveDirection)
{
const int sleep_time = 12;
const int COUNTER_MAX = 138; // 500 is 90% of a rotation.
volatile int counter = 0;
volatile int step = 0;
int i;
for (i = 0; i < quarterRotations; i++) {
while (counter <= COUNTER_MAX)
{
switch (step) {
case 0:
GPIO_setOutputLowOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputLowOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputLowOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputHighOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
case 1:
GPIO_setOutputLowOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputLowOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputHighOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputHighOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
case 2:
GPIO_setOutputLowOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputLowOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputHighOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputLowOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
case 3:
GPIO_setOutputLowOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputHighOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputHighOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputLowOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
case 4:
GPIO_setOutputLowOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputHighOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputLowOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputLowOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
case 5:
GPIO_setOutputHighOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputHighOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputLowOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputLowOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
case 6:
GPIO_setOutputHighOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputLowOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputLowOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputLowOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
case 7:
GPIO_setOutputHighOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputLowOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputLowOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputHighOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
default:
GPIO_setOutputLowOnPin(MOTOR1_PORT1, MOTOR1_PIN1);
GPIO_setOutputLowOnPin(MOTOR1_PORT2, MOTOR1_PIN2);
GPIO_setOutputLowOnPin(MOTOR1_PORT3, MOTOR1_PIN3);
GPIO_setOutputLowOnPin(MOTOR1_PORT4, MOTOR1_PIN4);
break;
}
sleep(sleep_time);
if (dir) { //Counter clockwise
step++;
} else {
step--;
}
if (step > 7) step = 0;
if (step < 0) step = 7;
counter++;
}
if (dir) {
curr_pos.x += 1;
} else {
curr_pos.x -= 1;
}
if (edge_detect(moveDirection)){
printPoint(curr_pos);
}
}
displayScrollText("MOTORS X DONE");
return 1;
}
int move_y_motor(uint8_t quarterRotations, uint8_t dir, MOVE_DIRECTION moveDirection)
{
const int sleep_time = 12;
const int COUNTER_MAX = 138; // 500 is 90% of a rotation.
volatile int counter = 0;
volatile int step = 0;
int i;
for (i = 0; i < quarterRotations; i++) {
while (counter <= COUNTER_MAX)
{
switch (step) {
case 0:
GPIO_setOutputLowOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputLowOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputLowOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputHighOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
case 1:
GPIO_setOutputLowOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputLowOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputHighOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputHighOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
case 2:
GPIO_setOutputLowOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputLowOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputHighOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputLowOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
case 3:
GPIO_setOutputLowOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputHighOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputHighOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputLowOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
case 4:
GPIO_setOutputLowOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputHighOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputLowOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputLowOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
case 5:
GPIO_setOutputHighOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputHighOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputLowOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputLowOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
case 6:
GPIO_setOutputHighOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputLowOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputLowOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputLowOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
case 7:
GPIO_setOutputHighOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputLowOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputLowOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputHighOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
default:
GPIO_setOutputLowOnPin(MOTOR2_PORT1, MOTOR2_PIN1);
GPIO_setOutputLowOnPin(MOTOR2_PORT2, MOTOR2_PIN2);
GPIO_setOutputLowOnPin(MOTOR2_PORT3, MOTOR2_PIN3);
GPIO_setOutputLowOnPin(MOTOR2_PORT4, MOTOR2_PIN4);
break;
}
sleep(sleep_time);
if (dir) { //Counter clockwise
step++;
} else {
step--;
}
if (step > 7) step = 0;
if (step < 0) step = 7;
counter++;
}
if (dir) {
curr_pos.x += 1;
} else {
curr_pos.x -= 1;
}
if (edge_detect(moveDirection)){
printPoint(curr_pos);
}
}
displayScrollText("MOTORS Y DONE");
return 1;
}