69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
#include "../2025_include_user/Motor.h"
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void Motor::init() {}
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void Motor::setLeftSpeed(const int left_speed) {
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setLeftDirection(left_speed > 0);
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const int pwmA_abs = Abs(left_speed);
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DL_TimerA_setCaptureCompareValue(Motor_INST, pwmA_abs, GPIO_Motor_C0_IDX);
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}
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void Motor::setRightSpeed(const int right_speed) {
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setRightDirection(right_speed > 0);
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const int pwmB_abs = Abs(right_speed);
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DL_TimerA_setCaptureCompareValue(Motor_INST, pwmB_abs, GPIO_Motor_C1_IDX);
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}
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void Motor::setSpeed(const int left_speed, const int right_speed) {
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setLeftSpeed(left_speed);
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setRightSpeed(right_speed);
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}
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void Motor::setLeftDirection(const uint8_t direction) {
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if (direction) {
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DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_AIN1_PIN);
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DL_GPIO_clearPins(MotorDirection_PORT, MotorDirection_AIN2_PIN);
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} else {
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DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_AIN2_PIN);
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DL_GPIO_clearPins(MotorDirection_PORT, MotorDirection_AIN1_PIN);
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}
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}
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void Motor::setRightDirection(const uint8_t direction) {
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if (direction) {
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DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_BIN1_PIN);
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DL_GPIO_clearPins(MotorDirection_PORT, MotorDirection_BIN2_PIN);
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} else {
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DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_BIN2_PIN);
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DL_GPIO_clearPins(MotorDirection_PORT, MotorDirection_BIN1_PIN);
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}
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}
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void Motor::setDirection(const uint8_t left_direction, const uint8_t right_direction) {
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setLeftDirection(left_direction);
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setRightDirection(right_direction);
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}
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void Motor::stopLeft() {
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setLeftSpeed(0);
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DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_AIN1_PIN);
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DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_AIN2_PIN);
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}
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void Motor::stopRight() {
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setRightSpeed(0);
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DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_BIN1_PIN);
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DL_GPIO_setPins(MotorDirection_PORT, MotorDirection_BIN2_PIN);
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}
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void Motor::stop() {
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stopLeft();
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stopRight();
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}
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int Motor::Abs(const int num) {
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return num < 0 ? -num : num; // 取绝对值
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}
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