motors

97hackbrian · Nov 21, 2023 · 07bf4af · 07bf4af
1 parent 1d773ab
commit 07bf4af
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Showing 4 changed files with 30 additions and 37 deletions.
diff --git a/...ivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.axf b/...ivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.axf
diff --git a/...ivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.bin b/...ivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.bin
diff --git a/.../TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.o b/.../TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.o
diff --git a/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/motorControllerSeeker.c b/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/motorControllerSeeker.c
@@ -392,46 +392,39 @@ void timer3A_handler(void)
 
     
     */   
+    if(vel[1]<0){
+        GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x02);
 
-
-    if (flagmainMotor1==1){
-        if(vel[1]<0){
-            GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x02);
-
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,interpolar(vel[1]*-1,0,100,10000,1));
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
-        }
-        else{
-            GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x02);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,0);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,interpolar(vel[1],0,100,10000,1));
-        }
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,interpolar(vel[1]*-1,0,100,10000,1));
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
+    }
+    else{
+        GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x02);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,0);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,interpolar(vel[1],0,100,10000,1));
+    }
 
 
-        if(vel[0]<0){
-            GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x01);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,interpolar(vel[0]*-1,0,100,10000,1));
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,0);
-        }
-        else{
-            GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x01);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,0);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,interpolar(vel[0],0,100,10000,1));
-        }
+    if(vel[0]<0){
+        GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x01);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,interpolar(vel[0]*-1,0,100,10000,1));
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,0);
+    }
+    else{
+        GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x01);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,0);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,interpolar(vel[0],0,100,10000,1));
+    }
 
 
-        if(vel[0]==0){
-            GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x00);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,0);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,0);
-        }
-        else if(vel[1]==0){
-            GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x00);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,0);
-            PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
-        }
-   }
-
-
-
+    if(vel[0]==0){
+        GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x00);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,0);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,0);
+    }
+    else if(vel[1]==0){
+        GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x00);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,0);
+        PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
+    }
 }