adipu/TweinStein
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

all

Browse Source
This commit is contained in:
pulipakaa24
2026-06-12 02:55:04 -07:00
commit 30406f4f49
2040 changed files with 571534 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

88
inc/Motor.h Normal file
View File

@@ -0,0 +1,88 @@
/*!
* @defgroup RSLK
* @brief RSLK motor interface
<table>
<caption id="RSLKmotor pins">RSLK RSLK motor pins</caption>
<tr><th> TM4C <th> MSPM0 <th> Description
<tr><td> PF2 <td> PB4 <td> Motor_PWML, ML+, IN3, PB.4/TIMA1_C0;
<tr><td> PF3 <td> PB1 <td> Motor_PWMR, MR+, IN1, PB.1/TIMA1_C1;
<tr><td> PA3 <td> PB0 <td> Motor_DIR_L,ML-, IN4, 1 means forward, 0 means backward
<tr><td> PA2 <td> PB16 <td> Motor_DIR_R,MR-, IN2
</table>
* @{*/
/**
* @file Motor.h
* @brief RSLK dual H-bridge driver
* @details RSLK motor interface<br>
* @version RSLK v2.02
* @author Daniel Valvano and Jonathan Valvano
* @copyright Copyright 2024 by Jonathan W. Valvano, valvano@mail.utexas.edu,
* @warning AS-IS
* @note For more information see http://users.ece.utexas.edu/~valvano/
* @date June 28, 2024
<table>
<caption id="RSLKmotor2">RSLK Bumper switches</caption>
<tr><th> TM4C <th> MSPM0 <th> Description
<tr><td> PF2 <td> PB4 <td> Motor_PWML, ML+, IN3, PB.4/TIMA1_C0;
<tr><td> PF3 <td> PB1 <td> Motor_PWMR, MR+, IN1, PB.1/TIMA1_C1;
<tr><td> PA3 <td> PB0 <td> Motor_DIR_L,ML-, IN4, 1 means forward, 0 means backward
<tr><td> PA2 <td> PB16 <td> Motor_DIR_R,MR-, IN2
</table>
******************************************************************************/
#ifndef __MOTOR_H__
#define __MOTOR_H__
/**
* Initialize RSLK motors
* @param none
* @return none
* @brief Initialize motors
* @note period is 10000 us
*/
void Motor_Init(void);
/**
* Set RSLK motor power forward<br>
* @param dutyLeft 2 to 99998 us
* @param dutyRight 2 to 99998 us
* @return none
* @note period is 10000 us
* @brief Go forward
*/
void Motor_Forward(uint32_t dutyLeft, uint32_t dutyRight);
/**
* Set RSLK motor power backward<br>
* @param dutyLeft 2 to 99998 us
* @param dutyRight 2 to 99998 us
* @return none
* @note period is 10000 us
* @brief Go backward
*/
void Motor_Backward(uint32_t dutyLeft, uint32_t dutyRight);
/**
* Set RSLK motor power right turn<br>
* @param dutyLeft 2 to 99998 us
* @param dutyRight 2 to 99998 us
* @return none
* @note period is 10000 us
* @brief Turn right
*/
void Motor_Right(uint32_t dutyLeft, uint32_t dutyRight);
/**
* Set RSLK motor power left turn<br>
* @param dutyLeft 2 to 99998 us
* @param dutyRight 2 to 99998 us
* @return none
* @note period is 10000 us
* @brief Turn left
*/void Motor_Left(uint32_t dutyLeft, uint32_t dutyRight);
#endif