77 lines
1.0 KiB
C
77 lines
1.0 KiB
C
/*****
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* Copyright (c) 2023 - Poivron Robotique
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "pico/stdlib.h"
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#include "hardware/pwm.h"
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#include <stdio.h>
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#define LED_VERTE 25
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#define PIN_VITESSE_M1 2
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#define PIN_SENS_A_M1 0
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#define PIN_SENS_B_M1 1
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int M1_INITIALISE()
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{
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gpio_init(PIN_VITESSE_M1);
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gpio_init(PIN_SENS_A_M1);
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gpio_init(PIN_SENS_B_M1);
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gpio_set_dir(PIN_VITESSE_M1, GPIO_OUT);
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gpio_set_dir(PIN_SENS_A_M1, GPIO_OUT);
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gpio_set_dir(PIN_SENS_B_M1, GPIO_OUT);
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}
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int M1_AVANCE()
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{
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gpio_put(PIN_VITESSE_M1, 1);
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gpio_put(PIN_SENS_A_M1, 1);
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gpio_put(PIN_SENS_B_M1, 0);
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}
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int M1_RECULE()
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{
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gpio_put(PIN_VITESSE_M1, 1);
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gpio_put(PIN_SENS_A_M1, 0);
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gpio_put(PIN_SENS_B_M1, 1);
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}
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void main()
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{
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stdio_init_all();
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// CLignottement LED
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gpio_set_function(LED_VERTE, GPIO_FUNC_PWM);
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pwm_set_wrap(4, 100);
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pwm_set_chan_level(4, PWM_CHAN_B, 25);
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pwm_set_enabled(4, true);
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//Moteur 1
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M1_INITIALISE();
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while(1)
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{
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M1_AVANCE();
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sleep_ms(3000);
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M1_RECULE();
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sleep_ms(3000);
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}
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} |