#include "mw_motor.h"
#include "bsp_motor.h"
#include <stdint.h>

void mw_SetMotorSpeed_Left(int8_t Speed)
{
	if (Speed >0)
	{
		bsp_AIN1_ON();
		bsp_AIN2_OFF();
		PWM_SetCompare3(Speed);
	}
	else if(Speed==0)
    {
		bsp_AIN1_ON();
		bsp_AIN2_ON();
		PWM_SetCompare3(Speed);
	}
    else
    {
		bsp_AIN1_OFF();
		bsp_AIN2_ON();
		PWM_SetCompare3(-Speed);
	}
}

void Motor_SetRightSpeed(int8_t Speed)
{
	if (Speed >0)
	{
		bsp_BIN1_ON();
		bsp_BIN2_OFF();
		PWM_SetCompare3(Speed);
	}
	else if(Speed==0)
    {
		bsp_BIN1_ON();
		bsp_BIN2_ON();
		PWM_SetCompare3(Speed);
	}
    else
    {
		bsp_BIN1_OFF();
		bsp_BIN2_ON();
		PWM_SetCompare3(-Speed);
	}
}