Subject:
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motor code questions
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Wed, 2 Dec 1998 14:54:42 GMT
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Original-From:
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Shiva Sinha <sinha@wam.{StopSpam}umd.edu>
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Viewed:
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2544 times
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Hi,
I got my Handyboard up and going and was trying the following code for
driving my motors. (Figure I would try known code before forking out on my
own). The code I got from the 'Inspiration to implemntation' book. Anyways
it does not seem to drive the motors (no LEDs lighting), and I was
wondering if any one knows of any problems with the code. I've looked it
over and it seems pretty reasonable.
Thanks in advance,
Shiva Sinha
----------------------------------------------
int write_port (int port, int value, int mask)
{ poke(port,(value & mask) | (peek(port) & ~mask)); }
void motor_cmd(int l_ena, int l_dir, int r_ena, int r_dir) {
write_port(port_a, (l_ena & m_mask_l) | (r_ena & m_mask_r), m_mask);
write_port(port_d, (l_dir & m_mask_l) | (r_dir & m_mask_r), m_mask); }
void move(int operation) {
if (operation == STOP)
motor_cmd(off_,0,off_,0);
else if (operation == FORWARD)
motor_cmd(on,fwd,on,fwd);
else if (operation == BACKWARD)
motor_cmd(on,bkw,on,bkw);
else if (operation == LEFT_TURN)
motor_cmd(on,bkw,on,fwd);
else if (operation == RIGHT_TURN)
motor_cmd(on,fwd,on,bkw);
}
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