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  • Pwmservice

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    api-310813713
    60 Ansichten2 Seiten
    PWMService Public Functions: InitAllPWM, SetDuty, SetDirection, SetServoAngle module Functions: initialize PWM for other motor line: Initialize Dummy variable using volatile to avoid overoptimization Enable the clock to the PWM module (PWM0) Select the PWM clock as system clock / 32 Make sure the PWM has gotten going for wheel motors: Disable PWM while initializing Program generator A to go to 1 at rising compare A,

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    pwmservice

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    PWMService Public Functions: InitAllPWM, SetDuty, SetDirection, SetServoAngle module Functions: initialize PWM for other motor line: Initialize Dummy variable using volatile to avoid overoptimization Enable the clock to the PWM module (PWM0) Select the PWM clock as system clock / 32 Make sure the PWM has gotten going for wheel motors: Disable PWM while initializing Program generator A to go to 1 at rising compare A,

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    © All Rights Reserved
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    60 Ansichten2 Seiten

    Pwmservice

    Hochgeladen von

    api-310813713
    PWMService Public Functions: InitAllPWM, SetDuty, SetDirection, SetServoAngle module Functions: initialize PWM for other motor line: Initialize Dummy variable using volatile to avoid overoptimization Enable the clock to the PWM module (PWM0) Select the PWM clock as system clock / 32 Make sure the PWM has gotten going for wheel motors: Disable PWM while initializing Program generator A to go to 1 at rising compare A,

    Copyright:

    © All Rights Reserved
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    von 2

    PWMService

    PublicFunctions:InitAllPWM,SetDuty,SetDirection,SetFlywheelDuty,
    SetServoAngle
    ModuleFunctions:InitPWMWheelMotors

    InitAllPWM
    InitializePWMWheelMotors
    EndInitAllPWM

    InitPWMWheelMotors
    InitializePWMforothermotorline:
    InitializeDummyvariableusingvolatiletoavoidoveroptimization
    EnabletheclocktothePWMmodule(PWM0)
    EnabletheclocktoportB
    SelectthePWMclockassystemclock/32
    MakesurethePWMclockhasgottengoing
    Forwheelmotors:
    DisablePWMwhileinitializing
    ProgramgeneratorAtogoto1atrisingcompareA,0atfalling
    compareA
    ProgramgeneratorBtogoto1atrisingcompareB,0atfalling
    compareB
    SetthePWMperiod,sincecountingupanddown,initializetheload
    registertohalfthedesiredtotalperiod
    Forflywheelmotorandservo:
    DisablePWMwhileinitializing
    ProgramgeneratorAtogoto1atrisingcompareA,0atfalling
    compareA
    ProgramgeneratorBtogoto1atrisingcompareB,0atfalling
    compareB
    SetthePWMperiodforservo(oktobethesameforflywheel),since
    countingupanddown,intitializetheloadregistertohalfthedesired
    totalperiod
    EnablethePWMoutputs(0and1arewheelmotors,2and3areflywheel
    andservo)
    ConfigureportBpinstobePWMoutputs
    ChoosetomapPWMtothosepins
    Enablepins4,5,6,7onportBfordigitalI/O
    Enablepins4,5,6,7asoutputs
    Setup/downcountmodeforwheelmotors
    Setup/downcountmodeforservoandflywheel
    Ensuremotorsareoff
    Ensureflywheelisoff
    Ensureservoisatresetangle
    EndInitPWM

    SetDuty
    IfWHICH_MOTORequalsMOTOR_ONE
    IfSET_DUTYis0
    SettheDCto0%byprogrammingthecomparevaluetothe
    loadvalue
    SincetheCmpADnaction(settozero)wins,theoutput
    stayslow(per/20=per/2)

    ElseifSET_DUTYis100
    Settheloadvalueto0sincethedesiredhitimeisPer/2
    (per/2per/2=0)
    SincetheCmpADnaction(wassettozero)wins,change
    generatoreventstoalwaysforcehi
    Elsesetdesireddutycycle

    ElseifWHICH_MOTORequalsMOTOR_TWO
    IfSET_DUTYis0
    SettheDCto0%byprogrammingthecomparevaluetothe
    loadvalue
    SincetheCmpADnaction(settozero)wins,theoutput
    stayslow(per/20=per/2)

    ElseifSET_DUTYis100

    Settheloadvalueto0sincethedesiredhitimeisPer/2
    (per/2per/2=0)
    SincetheCmpADnaction(wassettozero)wins,change
    generatoreventstoalwaysforcehi
    Elsesetdesireddutycycle
    EndSetDuty

    SetDirection
    IfWHICH_MOTORequalsMOTOR_ONE
    IfDirectionequalsFORWARD

    Setbitformotor1directionhi
    Else

    Setbitformotor1directionlo

    Else
    IfDirectionequalsFORWARD
    Setbitformotor2directionhi
    Else
    Setbitformotor2directionlo
    EndSetDirection

    SetFlywheelDuty
    SettheDCto0%byprogrammingthecomparevaluetotheloadvalue
    SincetheCmpADnaction(settozero)wins,theoutputstayslow
    SettheDCto100ismorecomplex
    Settheloadvalueto0siincethedesiredhitimeisperiod/2
    SinceCmpADnaction(setto0)wins,changegeneratoreventstoalways
    forcehi
    Turnoffenable
    Elsesetdesireddutycycle
    EndSetFlywheelDuty

    SetServoAngle
    Adjustdutycyclebetween1msand2msbasedonvalueofangle
    EndSetServoAngle

    EndPWMService

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