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The Motors Module is programmed to handle all events that involve motor actuation. Functions included in this module include helping to initialize the motors, changing the motor speed, setting the SWAG motor, and stopping the motors when needed.
Click here to see the hardware setup of the Motors
Click here to see and download the complete Motors.h module
Click here to see and download the complete Motors.c module
Public Level Functions:
| Function: | InitMotors(void) |
| Description: | Performs any initialization necessary for all motors to run. |
| Input: | None |
| Output: | None |
| Psuedocode: | Initialize PWM subsystem |
| Function: | ChangeMotorSpeed(unsigned char speed_port) |
| Description: | Based on an analog input (i.e. potentiometer), changes speed of a motor specified by the port that will govern that speed |
| Input: | unsigned char speed_port, the port to read input from |
| Output: | None |
| Psuedocode: | Read and store AD pin of the speed port Calculate duty cycle based on linearized range between max and min duty cycle |
| Function: | DispenseSWAG(unsigned int timer_number) |
| Description: | Pulses the SWAG motor for a set amount of time. Assumes timer12 module has already been initialized |
| Input: | unsigned int timer_number to be used to time |
| Output: | None |
| Psuedocode: | Initialize timer for desired lenght of SWAG motor pulse While timer is not expired Set SWAG motor duty cycle to desired "on" levelEnd Loop Set SWAG motor duty cycle to 0 |
| Function: | EndMotors(void) |
| Description: | Stop the target motors at the end of the game |
| Input: | None |
| Output: | None |
| Psuedocode: | Set target motor duty cycles to 0 |