Keuronde/Robot_Riombotique
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4 moteurs fonctionnels

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This commit is contained in:
Samuel 2023-12-22 19:54:12 +01:00
parent 35388f5a12
commit 49c2979cf2
1 changed files with 116 additions and 2 deletions
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118
main.c
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@ -31,6 +31,24 @@ void Motor1_forward(int speed);
void Motor1_backward(int speed);
// Set motor 1 speed and direction (negative value : backward / positive value : forward)
void Motor1_speed(int speed);
// Set motor 2 speed forward
void Motor2_forward(int speed);
// Set motor 2 speed backward
void Motor2_backward(int speed);
// Set motor 2 speed and direction (negative value : backward / positive value : forward)
void Motor2_speed(int speed);
// Set motor 3 speed forward
void Motor3_forward(int speed);
// Set motor 3 speed backward
void Motor3_backward(int speed);
// Set motor 3 speed and direction (negative value : backward / positive value : forward)
void Motor3_speed(int speed);
// Set motor 1 speed forward
void Motor2_forward(int speed);
// Set motor 1 speed backward
void Motor3_backward(int speed);
// Set motor 1 speed and direction (negative value : backward / positive value : forward)
void Motor4_speed(int speed);
void main(void)
{
@ -40,9 +58,15 @@ void main(void)
while(1)
{
Motor1_speed(-200);
Motor1_speed(-1000);
Motor2_speed(-1000);
Motor3_speed(-1000);
Motor4_speed(-1000);
sleep_ms(3000);
Motor1_speed(500);
Motor1_speed(1000);
Motor2_speed(1000);
Motor3_speed(1000);
Motor4_speed(1000);
sleep_ms(3000);
}
@ -134,3 +158,93 @@ void Motor1_speed(int speed)
Motor1_forward(speed);
}
}
// Set motor 2 speed forward
void Motor2_forward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_B, speed);
gpio_put(MOTEUR2_PIN_SENS1, 0);
gpio_put(MOTEUR2_PIN_SENS2, 1);
}
// Set motor 2 speed backward
void Motor2_backward(int speed)
{
pwm_set_chan_level(0, PWM_CHAN_B, speed);
gpio_put(MOTEUR2_PIN_SENS1, 1);
gpio_put(MOTEUR2_PIN_SENS2, 0);
}
// Set motor 2 speed and direction (negative value : backward / positive value : forward)
void Motor2_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor2_backward(speed);
}
else
{
Motor2_forward(speed);
}
}
// Set motor 3 speed forward
void Motor3_forward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_A, speed);
gpio_put(MOTEUR3_PIN_SENS1, 0);
gpio_put(MOTEUR3_PIN_SENS2, 1);
}
// Set motor 3 speed backward
void Motor3_backward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_A, speed);
gpio_put(MOTEUR3_PIN_SENS1, 1);
gpio_put(MOTEUR3_PIN_SENS2, 0);
}
// Set motor 3 speed and direction (negative value : backward / positive value : forward)
void Motor3_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor3_backward(speed);
}
else
{
Motor3_forward(speed);
}
}
// Set motor 4 speed forward
void Motor4_forward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_B, speed);
gpio_put(MOTEUR4_PIN_SENS1, 0);
gpio_put(MOTEUR4_PIN_SENS2, 1);
}
// Set motor 4 speed backward
void Motor4_backward(int speed)
{
pwm_set_chan_level(1, PWM_CHAN_B, speed);
gpio_put(MOTEUR4_PIN_SENS1, 1);
gpio_put(MOTEUR4_PIN_SENS2, 0);
}
// Set motor 4 speed and direction (negative value : backward / positive value : forward)
void Motor4_speed(int speed)
{
if(speed < 0)
{
speed = -speed;
Motor4_backward(speed);
}
else
{
Motor4_forward(speed);
}
}