28 lines
854 B
C
28 lines
854 B
C
#include "DCMotor.h"
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#include "math.h"
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void DCMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin)
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{
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//On règle la vitesse en valeur absolue, ici à 0
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Timer_pwmo_conf(timer, channel, 50, 0);
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//On règle le sens du moteur, ici sens direct (?)
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GPIO_conf(gpio, pin, LL_GPIO_MODE_OUTPUT, LL_GPIO_OUTPUT_OPENDRAIN, LL_GPIO_PULL_DOWN);
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GPIO_setPin(gpio, pin, 0);
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}
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void DCMotor_setSpeed(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin, float speed)
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{
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const int dir = (speed > 0.) ? 1 : 0;
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Timer_pwmo_setDutyCycle(timer, channel, fabs(speed));
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GPIO_setPin(gpio, pin, dir);
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}
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float DCMotor_getSpeed(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin)
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{
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const float speedAbs = Timer_pwmo_getDutyCycle(timer, channel);
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const int dir = GPIO_readPin(gpio, pin);
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return dir ? speedAbs : -speedAbs;
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}
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