From 07bf4af2114274285345885ca4107ff1046a0f5a Mon Sep 17 00:00:00 2001
From: 97hackbrian <brayandurantoconas@gmail.com>
Date: Tue, 21 Nov 2023 06:50:51 -0400
Subject: [PATCH] motors

---
 .../gcc/motorControllerSeeker.axf             | Bin 170696 -> 170696 bytes
 .../gcc/motorControllerSeeker.bin             | Bin 11225 -> 11193 bytes
 .../gcc/motorControllerSeeker.o               | Bin 11228 -> 11208 bytes
 .../motorControllerSeeker.c                   |  67 ++++++++----------
 4 files changed, 30 insertions(+), 37 deletions(-)

diff --git a/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.axf b/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.axf
index 92f223c9047a9299ee9a18efc7a73597f64a040e..083ab977af1ed603ebba3b93b4746167245bfd5e 100755
GIT binary patch
delta 5322
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diff --git a/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.bin b/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.bin
index 4ecfc427d7312dcd230a876a0c4eb0fcccebdbd1..895692f4d6ead0908dbe4764f26fbb03b3b913a1 100755
GIT binary patch
delta 2354
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zY_<qa0e7m$Vx!;&f;$Gz5Vq?C*B9I&a0%(f-28b#x<GyySQ?w67osD_(2Zj3jo7QP
zKIYx2P0UTCe8|@`pT8fK(%cOWg@}*UHcR|{>D<8!G8bg<!T-ao^2Z5<2MYel-ZHQG
zqv)K$Gcspn)VF$6uDVvoeTc`Y5;amKvmL6ZR*n=F*@1+(<VEMqQhzcfX^9Okq~UXU
z0*MC*CK?R?^3<Bw@iM(N)uwM*{NFTHX6dpxFx>dBT)P5W;$;1?+N|6x;d$38^=DF)
zl$M}rmr<r!<d=LTuvp<^NMtoL-2MT}kR942O!cFkM42GwCb84!ABV3fzc&T<7Mk9F
z+<TQ(;$9m6WiW{{T+CL7srZTh`1qz2>U@j$Bhz&5@reQa1?aTwrLM#Lm5Fh^ju>Oj
zL6~$tvfrCsuT|vlda-bOKK?5lYr(hIL@N|N!soj+-X6_U(41;1@t4%az>g1OEL@VJ
z#IHaQaFcwt#dX+I&&PqJJJrBN_q;xnj*|wJ6NGrnf}{J4a!3_{;`nuvCvYkLiZmiv
z>nU|4xQ7y=zF0017T;VrgpeVD;r({U9QrKQM-*ag4u0A1M=5x+e|m&e7W^%#)$=D$
C(N>NC

delta 2370
zcmcgtZBP|e7(RP1mv7~wqzw$t-9_MzXx=nNN~;BA=O7e1_)%(!V0q1Abo`2x7Q{+(
ztf`A7evLDZO)8EU;Yfy<V)7%K=${&eeGD{d?JzX3?Ad#J&OwYEf8;b1Gv__edG<N)
zbKbM}U78nNU8LU(C!QOzgj~hAj?p<{kh}hdpK*E^|HoOsXQCs~Lk3YX_h)qCKJ}fk
z`u!RFn`(zI?QZQoZ%rR@-FI*JKh{!bz?O<#wJC&b4=iw8cRd3%zcJHUAxYlA$*}yW
zau7=}o(o8>nfgjrrTLO}Xp&LN99oQ~YWcv19j-<0QIq0;7Yg2|Jqr983)j3FXA4HK
z=AdM>23vXtY6zL~>p<@1{C3)2_`|?gHSI;j*l%B^#MmL?oA#H$H6m8omnhMVN<JB{
z*=>lML|kuQ1YRp*xqSh6wTOQE3*Z+-EVa)AFB5U8-AWai7<+@~3R-BQKLmUsnCc<M
z3D!&{tS$ya@@eR+gT&a!P78HSu&JPt>O=D5!F0$!U?+vV9`X~AzXbU<Rxji)2agvV
zyPdo?I2~%8eI(Sop*{?CG1RXx2~Q|fdnJ_^vzb#aGE^|L*Z~@cgG^%kX*}jMwvWbQ
zR&=(Po(Gt~>Szq+M7Bo=$FUD-7}jIhhB-xj<K_`hsDGCopiXeiicXOfr~EEVGc6w7
z>>b2WB1W?!Biv1laJCbiQ$)hv2DYtA>cIX!YqQ90SQS){1aZ^aCMxN%whF<|)&}YZ
z-({_%9?aiaIlb<6TWCrNQB<sFunJ0)Dxhg>BM>iO3R@3U)K|5Z80k#$uc2I-1yoMC
zayrmzQR+iLtLTu@t7GvZ&4%D%pfb7@Xfn`pS_8xrJx|+!6riQ_5>PVGv)En(qw&BC
z>7qilHzJ<jLa{K7VDp5flNAZWkoDAUyFsgfN(#S&C`N(8WStmcOatWi5VCTCc;$mu
zHjoGCPwNRFUW;MP0^+s&W=)e-E!3ZA%jg%$C?AltEX=V3nfX~7F%AY@8u6;eA5}8g
zWdp>!`Ws^GvZp>RYrYaMxCH}Cy2$ACh^jzS<Y9e1x^W{$R~YfE!*HKM>GqnEyaGu{
zEXfl&Q$@~-4jK8oL*d%o#!!E=?Zaw}{rK&?#JCo!)_P8b`s;0qCoY_C4g84lHTdn|
z4+-96veqE@3n7>0)$yR#=CWJND9I3ZzuUY7P1rSri1*3987GO+$x`oF9TDtgu-_ux
zkj*~9Dd5`gSiC2=2f>{KX9(N31UDMor{Lm!%ei@_Aj3c&3#^Pz)wkeA&fqqxF}Gu`
z$M~4vPE$f*0_9C!#ZvrZsgx1h>QIPyt<J$x|7cn~VR6plY~J{mdDtH#6mBT^o9#7!
z^heNn6XxX1$!_U!t6bI7%zcR4sS-6@C379ByGafg7Da*hn51P_%rbuxB^e2=VMxRK
zvJHvH3nmf_|M8qPf5Kr#YCbVjR>l28bJQ$b6$6GF|DEe#U}uc1`<n9T8x6cHX5|(n
z`=u$bcjOf2(lS4a%ZS(Vt`TFiS>h+Vc{8q1h^*#>`VX*d*`Ym#?oJvcN|xxKaf2!T
zO#D>&u9?_XVtV{i3JI)G_|Bny)vN~lCSza7B+4Y(ro(v9RQzPpBOPhf`98mw*`{;v
zMA3-1fZAl4x*A$~eE72c(u_}!nT(F-t^2*XLK!|7kwg8(_}|dnO^k_V0u;QFub4vz
z@c4(05bDo{=3;lLzqC0TZVovO-!GU%if_Sbpsn)dZdZe^g|rf%Q*FQt;_VS=i=97e
z`sbuo<!_7-PhDf`sHqO=P+&paCdn7L5_erHY&_~NbHq<hBSd|*QX(v_Ys*AJW(ShT
k)<vB;8=XQFV$?Raj=doTqS6x@4?W;>Np+1Ki9PPW0JVc*c>n+a

diff --git a/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.o b/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.o
index 971de416ac6e66bdc66f1c2d53e6f82b49e02a23..dd50286f7c0b6925237a407ee9441d20a3ce2730 100644
GIT binary patch
delta 832
zcmY+BKWI}?6vpp;FVUJd_DLe7l9If<B(KS{pc4N<gf!J~hiXzN)S*hL9o|swU`re<
z#X2ZLq4eld#KA#2SV)P2qCr}sh_r*yN$YAHTy)VP7|;DPG<SI4J-_dq^YPx>9sM}E
z6s1e+X1A{xc{w;V$XaIW&%f3+H_x;faSjy<UwA$4Qj5T3EdSfMNz7cHvjI~poMrq*
zVyD@Hn6umrqhc-#_k6wcj`CBiF8r8F(kDMBn7&L!t*=<@uDaFDDDzZmKa3pie8=~O
z8Ho)DSEi4<GM{@|;Z=ic0DI&H*%RH{(_h$ZOt=%T4`86CV)iq+QeRmxKQufQqel2S
zrst|7oo94vR2L6g`)IVf9-Q{ghtTppAmk|5X+lnMy+cS&X^AWPlU&iiq4+JO_m#h_
z>SwC1sCttt&V5pRNAd5HA0dC0p-~xZplZW}Jgsg--sm(8b5@aNVB0FwEL?~e=@dMQ
zm+1`n6Gg4r16LE5s0Y>(WqKYG$s&CSv-qsT`=mpo@GEI~yCQ_FLXU0H5}dPbZ>f`z
z6L8!Lz-`+=wy2l~%y<B{1pC&;!hO82zfaD}zA3@x+SpscwiWAu;bai}scxL@P085~
zkujFy`>waK=YrJ~lNn9H{OP^9Luo#H1=$F`hwOWd>@ut&8$;G5GJd8F*hz;V=osD^
oq#4-2x63*PU4@H|O?P3|v9;!5c;X~OFYpt6)$mWKga1IB|KjEI6951J

delta 759
zcmX|+KWGzC9LIm}&Pcp~UT85v4DH>ex%4hVDiw-~Bq<FK71K^}=#bP5CkRy(<7AVH
zOQ+Z$4ra2Ti=ZS#!62oI1v56A6a_magM+$=OXGVluf5^-eV_05_lN7`zvXM=<VDjs
zq2-hB=IG<bz!?19AIx5fc;w8(ZszJNz2PY)xWVk)E>8*`Jk9*k@0Lt3QW@@~4JCV?
z@)wvhbXCk--Z@Id)CFA8BE^Kv9l9-Y(*tL^8>8wv5v<mu^pSjR8wT|?Hv7pG+quQ}
zMkttRk(SJZ`yg1!wtKu|6bD-5?C0K+x760yRz>de)8U+2Up2n;e2wHLY(Y{@f&5xD
zFr$)it9slzN)oM?qs!Wg$ueyXV4CYPz$LC#04nvm%x}s3zVs_nYh2lUUGf{r?<IG*
zvb{Uf-<AH)p>M*z4E$tx_%u`HBEUG;1%Owr*JB@4633fXj-;?{l?lbEXpTI<YP3u$
z_%E7M{HO5p#5JPhvxzd9$6zc+o@0^K9c;#2lECjV%NHI4XrRxwe2W19f_s4xOxZeF
z#0A?HHH0<68-h3N5dIMS`;e1y-k*;1ex6qZKM~v(bx+h|le}X})V+8JZ%^{Ms$f3%
zQE>M#*Bzc4&cWUS;{x7cToQL0j*fjNj9;054?j7fbysKq9&~N;mempb6*z+P%<E&(
QwH5zKTytZjgH1Q|A56mXX#fBK

diff --git a/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/motorControllerSeeker.c b/tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/motorControllerSeeker.c
index 1d01d63..c8281be 100644
--- 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);
+    }
 }
\ No newline at end of file