MikroElektronika PIC Microcontrollers PIC18 Manual do Utilizador descarregar pdf (Página 48)

48 l Robotics experiment with PIC microcontroller

Listing 4-1 : The source code of motor.h library file for driving the DC motor

(continue)

/********** Motor B Forward ********/

void Motor_B_FWD()

{

Pwm2_Start();

PORTB.F1 =0;

PORTB.F2 =1;

}

/************************************/

/********** Motor A Backward *******/

void Motor_A_BWD()

{

Pwm1_Start();

PORTD.F0 =1;

PORTD.F1 =0;

}

/************************************/

/********** Motor B Backward *******/

void Motor_B_BWD()

{

Pwm2_Start();

PORTB.F1 =1;

PORTB.F2 =0;

}

/************************************/

/********** Motor A Off ************/

void Motor_A_Off()

{

Pwm1_Stop();

PORTD.F0 =0;

PORTD.F1 =0;

}

/************************************/

/********** Motor B Off ************/

void Motor_B_Off()

{

Pwm2_Stop();

PORTB.F1 =0;

PORTB.F2 =0;

}

/************************************/

/********** Go Forward ************/

void Forward(char speed)

{

Motor_Init();

Change_Duty(speed);

Motor_A_FWD();

Motor_B_FWD();

}

/************************************/

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MikroElektronika PIC Microcontrollers PIC18 Manual do Utilizador Página 48

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