yenru0/2025-02-MPX
SHA256
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

get_error 롤백

Browse Source
This commit is contained in:
yenru0
2025-12-10 15:42:06 +09:00
parent 457b415d61
commit a1da126ee0
3 changed files with 25 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
ccs/motor.c
View File

@@ -42,13 +42,13 @@ void motor_move(int32_t left, int32_t right) {
} else if (left >= 0 && right < 0) {
// fwd back
P3->OUT |= 0xc0;
P5->OUT |= (P5->OUT & (~0x30)) | 0x10;
P5->OUT |= (P5->OUT & (~0x30)) | 0x20;
pwm_set_duty_left((uint16_t) left);
pwm_set_duty_right((uint16_t) (-right));
} else if (left < 0 && right >= 0) {
// back fwd
P3->OUT |= 0xc0;
P5->OUT |= (P5->OUT & (~0x30)) | 0x20;
P5->OUT |= (P5->OUT & (~0x30)) | 0x10;
pwm_set_duty_left((uint16_t) (-left));
pwm_set_duty_right((uint16_t) right);
}