ASURO Library: motor_low.c Quellcode

00001 /****************************************************************************/
00031 /*****************************************************************************
00032 *                                                                            *
00033 *   This program is free software; you can redistribute it and/or modify     *
00034 *   it under the terms of the GNU General Public License as published by     *
00035 *   the Free Software Foundation; either version 2 of the License, or        *
00036 *   any later version.                                                       *
00037 *                                                                            *
00038 *****************************************************************************/
00039 #include "asuro.h"
00040 
00041 
00042 
00043 /****************************************************************************/
00083 inline void MotorSpeed (
00084   unsigned char left_speed,
00085   unsigned char right_speed)
00086 {
00087   OCR1A = left_speed;
00088   OCR1B = right_speed;
00089 }
00090 
00091 
00092 
00093 /****************************************************************************/
00126 inline void MotorDir (
00127   unsigned char left_dir,
00128   unsigned char right_dir)
00129 {
00130   PORTD = (PORTD &~ ((1 << PD4) | (1 << PD5))) | left_dir;
00131   PORTB = (PORTB &~ ((1 << PB4) | (1 << PB5))) | right_dir;
00132 }
00133 
00134 
00135