Zumo32U4Motors.cpp

// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/
 
#include <Zumo32U4Motors.h>
#include <FastGPIO.h>
#include <avr/io.h>
 
#define PWM_L 10
#define PWM_R 9
#define DIR_L 16
#define DIR_R 15
 
static bool flipLeft = false;
static bool flipRight = false;
 
// initialize timer1 to generate the proper PWM outputs to the motor drivers
void Zumo32U4Motors::init2()
{
    FastGPIO::Pin<PWM_L>::setOutputLow();
    FastGPIO::Pin<PWM_R>::setOutputLow();
    FastGPIO::Pin<DIR_L>::setOutputLow();
    FastGPIO::Pin<DIR_R>::setOutputLow();
 
    // Timer 1 configuration
    // prescaler: clockI/O / 1
    // outputs enabled
    // phase-correct PWM
    // top of 400
    //
    // PWM frequency calculation
    // 16MHz / 1 (prescaler) / 2 (phase-correct) / 400 (top) = 20kHz
    TCCR1A = 0b10100000;
    TCCR1B = 0b00010001;
    ICR1 = 400;
    OCR1A = 0;
    OCR1B = 0;
}
 
// enable/disable flipping of left motor
void Zumo32U4Motors::flipLeftMotor(bool flip)
{
    flipLeft = flip;
}
 
// enable/disable flipping of right motor
void Zumo32U4Motors::flipRightMotor(bool flip)
{
    flipRight = flip;
}
 
// set speed for left motor; speed is a number between -400 and 400
void Zumo32U4Motors::setLeftSpeed(int16_t speed)
{
    init();
 
    bool reverse = 0;
 
    if (speed < 0)
    {
        speed = -speed; // Make speed a positive quantity.
        reverse = 1;    // Preserve the direction.
    }
    if (speed > 400)    // Max PWM duty cycle.
    {
        speed = 400;
    }
 
    OCR1B = speed;
 
    FastGPIO::Pin<DIR_L>::setOutput(reverse ^ flipLeft);
}
 
// set speed for right motor; speed is a number between -400 and 400
void Zumo32U4Motors::setRightSpeed(int16_t speed)
{
    init();
 
    bool reverse = 0;
 
    if (speed < 0)
    {
        speed = -speed;  // Make speed a positive quantity.
        reverse = 1;     // Preserve the direction.
    }
    if (speed > 400)     // Max PWM duty cycle.
    {
        speed = 400;
    }
 
    OCR1A = speed;
 
    FastGPIO::Pin<DIR_R>::setOutput(reverse ^ flipRight);
}
 
// set speed for both motors
void Zumo32U4Motors::setSpeeds(int16_t leftSpeed, int16_t rightSpeed)
{
  setLeftSpeed(leftSpeed);
  setRightSpeed(rightSpeed);
}