98 lines
2.0 KiB
C
98 lines
2.0 KiB
C
#include "mw_motor.h"
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#include "bsp_motor.h"
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#include <stdint.h>
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/*************************************************************************************
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* @brief 驱动器左轮转动
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* @param[in/out] Speed【参数注释】
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*
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* @warning 【不可重入,阻塞等警告】
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* @note 【重大修改】
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*************************************************************************************/
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void mw_SetMotorSpeed_Left(int8_t Speed)
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{
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if (Speed >0)
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{
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bsp_AIN1_ON();
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bsp_AIN2_OFF();
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bsp_changeRightMotorSpeed(Speed);
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}
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else if(Speed==0)
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{
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bsp_AIN1_ON();
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bsp_AIN2_ON();
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bsp_changeRightMotorSpeed(Speed);
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}
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else
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{
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bsp_AIN1_OFF();
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bsp_AIN2_ON();
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bsp_changeRightMotorSpeed(-Speed);
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}
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}
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/*************************************************************************************
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* @brief 驱动器右轮转动
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* @param[in/out] Speed【参数注释】
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*
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* @warning 【不可重入,阻塞等警告】
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* @note 【重大修改】
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*************************************************************************************/
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void mw_SetMotorSpeed_Right(int8_t Speed)
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{
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if (Speed >0)
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{
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bsp_BIN1_ON();
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bsp_BIN2_OFF();
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bsp_changeLeftMotorSpeed(Speed);
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}
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else if(Speed==0)
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{
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bsp_BIN1_ON();
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bsp_BIN2_ON();
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bsp_changeLeftMotorSpeed(Speed);
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}
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else
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{
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bsp_BIN1_OFF();
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bsp_BIN2_ON();
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bsp_changeLeftMotorSpeed(-Speed);
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}
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}
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void mw_motor_goAhead(int8_t speed)
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{
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mw_SetMotorSpeed_Left(speed);
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mw_SetMotorSpeed_Right(-speed);
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}
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void mw_motor_goBack(int8_t speed)
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{
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mw_SetMotorSpeed_Left(-speed);
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mw_SetMotorSpeed_Right(speed);
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}
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void mw_motor_turnLeft(int8_t speed)
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{
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mw_SetMotorSpeed_Left(speed);
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mw_SetMotorSpeed_Right(0);
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}
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void mw_motor_turnRight(int8_t speed)
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{
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mw_SetMotorSpeed_Left(0);
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mw_SetMotorSpeed_Right(-speed);
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}
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void mw_motor_selfLeft(int8_t speed)
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{
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mw_SetMotorSpeed_Left(-speed);
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mw_SetMotorSpeed_Right(-speed);
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}
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void mw_motor_selfRight(int8_t speed)
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{
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mw_SetMotorSpeed_Left(speed);
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mw_SetMotorSpeed_Right(speed);
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}
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void mw_motor_stop(void)
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{
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mw_SetMotorSpeed_Left(0);
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mw_SetMotorSpeed_Right(0);
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}
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