r2maeh2/engine_control
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Merge branch 'fix/engine_def' into 'develop'

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Fix/engine def



See merge request !12
This commit is contained in:
tkl 2016-08-27 10:08:06 +00:00
commit fb70c95121
2 changed files with 15 additions and 15 deletions
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8
source/application/drive_ctrl.c
View File

@ -96,8 +96,8 @@ int drive_ctrl_set_speed_left(int speed_percent)
{ {
unsigned int front_speed = calc_speed_front(speed_percent); unsigned int front_speed = calc_speed_front(speed_percent);
unsigned int back_speed = calc_speed_back(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); int ret = drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
ret |= drv_ioctl(drive_ctrl.left_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; 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 front_speed = calc_speed_front(speed_percent);
unsigned int back_speed = calc_speed_back(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); int ret = drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
ret |= drv_ioctl(drive_ctrl.right_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; return ret;
} }

22
source/application/include/engines.h
View File

@ -13,24 +13,24 @@ struct engine_ctrl {
const struct driver *enable; const struct driver *enable;
}; };
static struct engine_ctrl right_forward = {
.pwm = &pwm_2,
.enable = &gpio_c0,
};
static struct engine_ctrl right_backward = {
.pwm = &pwm_1,
.enable = &gpio_c1,
};
static struct engine_ctrl left_forward = { static struct engine_ctrl left_forward = {
.pwm = &pwm_4, .pwm = &pwm_4,
.enable = &gpio_c2, .enable = &gpio_c2,
}; };
static struct engine_ctrl left_backward = { static struct engine_ctrl right_backward = {
.pwm = &pwm_3, .pwm = &pwm_3,
.enable = &gpio_c3, .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_ */ #endif /* SOURCE_APPLICATION_INCLUDE_ENGINES_H_ */