r2maeh2/engine_control
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engine/drive ctrl functionality splitted/reordered

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This commit is contained in:
Thomas Klaehn
2016-08-30 10:07:47 +02:00
parent 30e55ff1cf
commit 33a8e8ae2d
6 changed files with 281 additions and 218 deletions
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16
source/application/include/drive_ctrl.h
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@@ -10,14 +10,12 @@
int drive_ctrl_init(void);
int drive_ctrl_set_speed_left(int speed_percent);
int drive_ctrl_set_speed_right(int speed_percent);
int drive_ctrl_set_target_speed_value(int speed_percent);
int drive_ctrl_get_target_speed_value(void);
int drive_ctrl_set_current_speed_value(int speed_percent);
int drive_ctrl_get_current_speed_value(void);
int drive_ctrl_set_turn_speed_value(int speed_percent);
int drive_ctrl_get_turn_speed_value(void);
int drive_ctrl_turn_right(void);
int drive_ctrl_turn_left(void);
int drive_ctrl_boost(void);
int drive_ctrl_retard(void);
int drive_ctrl_halt(void);
int drive_ctrl_forward(void);
int drive_ctrl_backward(void);
#endif /* SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_ */

22
source/application/include/engine_ctrl.h Normal file
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@@ -0,0 +1,22 @@
/*
* engine_ctrl.h
*
* Created on: Aug 30, 2016
* Author: tkl
*/
#ifndef SOURCE_APPLICATION_INCLUDE_ENGINE_CTRL_H_
#define SOURCE_APPLICATION_INCLUDE_ENGINE_CTRL_H_
int engine_ctrl_init(void);
int engine_ctrl_set_speed_left(int speed_percent);
int engine_ctrl_set_speed_right(int speed_percent);
int engine_ctrl_set_target_speed_value(int speed_percent);
int engine_ctrl_get_target_speed_value(void);
int engine_ctrl_set_current_speed_value(int speed_percent);
int engine_ctrl_get_current_speed_value(void);
int engine_ctrl_set_turn_speed_value(int speed_percent);
int engine_ctrl_get_turn_speed_value(void);
#endif /* SOURCE_APPLICATION_INCLUDE_ENGINE_CTRL_H_ */

5
source/application/include/engines.h
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@@ -10,27 +10,22 @@
struct engine_ctrl {
const struct driver *pwm;
const struct driver *enable;
};
static struct engine_ctrl left_forward = {
.pwm = &pwm_4,
.enable = &gpio_c2,
};
static struct engine_ctrl right_backward = {
.pwm = &pwm_3,
.enable = &gpio_c3,
};
static struct engine_ctrl right_forward = {
.pwm = &pwm_2,
.enable = &gpio_c0,
};
static struct engine_ctrl left_backward = {
.pwm = &pwm_1,
.enable = &gpio_c1,
};
#endif /* SOURCE_APPLICATION_INCLUDE_ENGINES_H_ */