r2maeh2/engine_control
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engine definitions and directions corrected

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This commit is contained in:
Thomas Klaehn 2016-08-27 11:58:44 +02:00
parent cb158d213c
commit 64519e5c4b
2 changed files with 6 additions and 6 deletions
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8
source/application/drive_ctrl.c
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@ -96,8 +96,8 @@ int drive_ctrl_set_speed_left(int speed_percent)
{
unsigned int front_speed = calc_speed_front(speed_percent);
unsigned int back_speed = calc_speed_back(speed_percent);
int ret = drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
ret |= drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
int ret = drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
ret |= drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
return ret;
}
@ -106,8 +106,8 @@ int drive_ctrl_set_speed_right(int speed_percent)
{
unsigned int front_speed = calc_speed_front(speed_percent);
unsigned int back_speed = calc_speed_back(speed_percent);
int ret = drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
ret |= drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
int ret = drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
ret |= drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
return ret;
}

4
source/application/include/engines.h
View File

@ -13,7 +13,7 @@ struct engine_ctrl {
const struct driver *enable;
};
static struct engine_ctrl right_forward = {
static struct engine_ctrl left_forward = {
.pwm = &pwm_4,
.enable = &gpio_c2,
};
@ -23,7 +23,7 @@ static struct engine_ctrl right_backward = {
.enable = &gpio_c3,
};
static struct engine_ctrl left_forward = {
static struct engine_ctrl right_forward = {
.pwm = &pwm_2,
.enable = &gpio_c0,
};