all

2026-06-12 02:55:04 -07:00
commit 30406f4f49
2040 changed files with 571534 additions and 0 deletions
--- a/inc/Motor.c
+++ b/inc/Motor.c
@@ -0,0 +1,73 @@
+/* Motor.c
+ * Jonathan Valvano
+ * v2.0.2
+ * June 28, 2024
+// Motor
+//   TM4C MSPM0
+//   PF2  PB4  Motor_PWML, ML+, IN3, PWM M1PWM6
+//   PF3  PB1  Motor_PWMR, MR+, IN1, PWM M1PWM7
+//   PA3  PB0  Motor_DIR_L,ML-, IN4, GPIO 0 means forward, 1 means backward
+//   PA2  PB16 Motor_DIR_R,MR-, IN2, GPIO 0 means forward, 1 means backward
+ *
+ */
+#include <ti/devices/msp/msp.h>
+#include "../inc/LaunchPad.h"
+#include "../inc/Clock.h"
+#include "../inc/PWM1.h"
+#define DRV8847 1
+#define DIR_L 1
+#define DIR_R (1<<16)
+#define MOTOR_PERIOD 10000
+void Motor_Init(void){
+  // LaunchPad_Init was called
+  IOMUX->SECCFG.PINCM[PB0INDEX] = (uint32_t) 0x00000081;
+  IOMUX->SECCFG.PINCM[PB16INDEX] = (uint32_t) 0x00000081;
+  // DOE31_0 Data output enable
+  GPIOB->DOE31_0 |= (1 | (1<<16)); // enable outputs
+  GPIOB->DOUTCLR31_0 = DIR_L | DIR_R;  // forward
+
+  PWM1_Init(PWMUSEBUSCLK,39,MOTOR_PERIOD,MOTOR_PERIOD-4,MOTOR_PERIOD-4); // 100Hz, stopped
+
+}
+#if DRV8847
+void Motor_Forward(uint32_t dutyLeft, uint32_t dutyRight){
+  GPIOB->DOUTCLR31_0 = DIR_L | DIR_R;  // forward
+  PWM1_SetDuty(MOTOR_PERIOD-dutyLeft,MOTOR_PERIOD-dutyRight);
+}
+
+void Motor_Backward(uint32_t dutyLeft, uint32_t dutyRight){
+  GPIOB->DOUTSET31_0 = DIR_L | DIR_R;  // backward
+  PWM1_SetDuty(dutyLeft,dutyRight);
+}
+void Motor_Right(uint32_t dutyLeft, uint32_t dutyRight){
+  GPIOB->DOUTCLR31_0 = DIR_L;  // left forward
+  GPIOB->DOUTSET31_0 = DIR_R;  // right backward
+  PWM1_SetDuty(MOTOR_PERIOD-dutyLeft,dutyRight);
+}
+void Motor_Left(uint32_t dutyLeft, uint32_t dutyRight){
+  GPIOB->DOUTCLR31_0 = DIR_R;  // right forward
+  GPIOB->DOUTSET31_0 = DIR_L;  // left backward
+  PWM1_SetDuty(dutyLeft,MOTOR_PERIOD-dutyRight);
+}
+#else
+// L293 code
+void Motor_Forward(uint32_t dutyLeft, uint32_t dutyRight){
+  GPIOB->DOUTCLR31_0 = DIR_L | DIR_R;  // forward
+  PWM1_SetDuty(MOTOR_PERIOD-dutyLeft,MOTOR_PERIOD-dutyRight);
+}
+
+void Motor_Backward(uint32_t dutyLeft, uint32_t dutyRight){
+  GPIOB->DOUTSET31_0 = DIR_L | DIR_R;  // backward
+  PWM1_SetDuty(dutyLeft,dutyRight);
+}
+void Motor_Right(uint32_t dutyLeft, uint32_t dutyRight){
+  GPIOB->DOUTCLR31_0 = DIR_L;  // left forward
+  GPIOB->DOUTSET31_0 = DIR_R;  // right backward
+  PWM1_SetDuty(MOTOR_PERIOD-dutyLeft,dutyRight);
+}
+void Motor_Left(uint32_t dutyLeft, uint32_t dutyRight){
+  GPIOB->DOUTCLR31_0 = DIR_R;  // right forward
+  GPIOB->DOUTSET31_0 = DIR_L;  // left backward
+  PWM1_SetDuty(dutyLeft,MOTOR_PERIOD-dutyRight);
+}
+#endif