51 lines
658 B
C
51 lines
658 B
C
#include "mw_motor.h"
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#include "bsp_motor.h"
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#include <stdint.h>
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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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PWM_SetCompare3(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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PWM_SetCompare3(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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PWM_SetCompare3(-Speed);
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}
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}
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void Motor_SetRightSpeed(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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PWM_SetCompare3(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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PWM_SetCompare3(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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PWM_SetCompare3(-Speed);
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}
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}
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