motorSimple.c

/*******************************************************************************
* examples/motorSimple.c                                                       *
* ======================                                                       *
*                                                                              *
* Version: 1.0.5                                                               *
* Date   : 07.11.17                                                            *
* Author : Peter Weissig                                                       *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testMotor(void);
int main(void);
 
//*********************************[testMotor]**********************************
void testMotor(void) {
 
    int8_t speed = 0;
 
    lcdclr();
    lcdstr_p(PSTR("Motor      ####%"));
    lcdxy(0,1);
    lcdstr_p(PSTR("####mA    ####mA"));
 
    mode_set(kModeStudent);
    currents_request(kRequestContinuous);
 
    while (1) {
 
        if (buttons_get(kButtonMiddle)) {
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            if (speed > -100) {
                speed-= 5;
 
                lcdxy(11,0);
                int16tostr(lcdout,speed , 4);
 
                motors_set(kMotorSetAll,speed);
            }
        } else if (buttons_get(kButtonRight)) {
            leds_set(kLedRight , kLedOn );
            mdelay(100);
            leds_set(kLedRight , kLedOff);
 
            if (speed < 100) {
                speed+= 5;
 
                lcdxy(11,0);
                int16tostr(lcdout,speed , 4);
 
                motors_set(kMotorSetAll,speed);
            }
        }
 
        if (currents_changed()) {
            lcdxy( 0,1); int16tostr(lcdout,currents_get(kCurrentGetLeft ) ,4);
            lcdxy(10,1); int16tostr(lcdout,currents_get(kCurrentGetRight) ,4);
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testMotor();
 
    return (0);
}