main.c
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#include <stdio.h>
#include "cpu.h"
#include "board.h"
#include "xtimer.h"
#include "periph/pwm.h"
#include "periph/gpio.h"
#include "tb6612fng.h"
#define PWM1 PWM_DEV(0)
#define PWM2 PWM_DEV(1)
#define MOTOR1_CHANNEL 1
#define MOTOR1_IN1 GPIO_PIN(PORT_E,0)
#define MOTOR1_IN2 GPIO_PIN(PORT_E,2)
#define MOTOR2_CHANNEL 1
#define MOTOR2_IN1 GPIO_PIN(PORT_E,1)
#define MOTOR2_IN2 GPIO_PIN(PORT_E,3)
#define STBY GPIO_PIN(PORT_D,4)
static motor_t left;
static motor_t right;
int main(void)
{
int res;
puts("\nRIOT dc motor test");
puts("Connect an dc motor or scope to PWM_0/1 channel 1 to see anything");
res = motor_init(&left,PWM1,MOTOR1_CHANNEL,MOTOR1_IN1,MOTOR1_IN2,STBY,1);
if (res < 0) {
puts("Errors while initializing motor");
return -1;
}
puts("motor 1 initialized.");
res = motor_init(&right,PWM2,MOTOR2_CHANNEL,MOTOR2_IN1,MOTOR2_IN2,STBY,1);
if (res < 0) {
puts("Errors while initializing motor");
return -1;
}
puts("motor 2 initialized.");
while (1) {
motor_forward(&left,&right,100);
xtimer_sleep(1);
motor_back(&left,&right,100);
xtimer_sleep(1);
}
return 0;
}