Header file for motor control drivers. More...

#include <stdbool.h>
#include "pico/stdlib.h"
#include "pico/types.h"

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Data Structures
struct	motor_pins
	Contains the GPIO pins for the motor. More...

Macros
#define	MOTOR_DEFAULT_DIFF_RATIO 1.05f
	Default ratio for motor speed difference.

#define	MOTOR_LEFT_PIN_ANTICLKWISE 17
	GPIO pin for left motor anti-clockwise.

#define	MOTOR_LEFT_PIN_CLKWISE 16
	GPIO pin for left motor clockwise.

#define	MOTOR_PWM_CLKDIV 100
	PWM clock divider.

#define	MOTOR_PWM_PIN_LEFT 10
	GPIO pin for left motor PWM.

#define	MOTOR_PWM_PIN_RIGHT 11
	GPIO pin for right motor PWM.

#define	MOTOR_PWM_WRAP 62500
	PWM wrap value.

#define	MOTOR_RIGHT_PIN_ANTICLKWISE 14
	GPIO pin for right motor anti-clockwise.

#define	MOTOR_RIGHT_PIN_CLKWISE 15
	GPIO pin for right motor clockwise.

Typedefs
typedef struct motor_pins	motor_pins_t
	Contains the GPIO pins for the motor.

Functions
void	motor_move_forward (void)
	A function to move the car forward. More...

void	motor_reverse (void)
	A function to reverse the car. More...

void	motor_start (uint clkwise_gpio, uint anti_clkwise_gpio, uint pwm_gpio)
	Default initialization of a single motor. More...

void	motor_stop (void)
	A function to stop the car. More...

void	motor_turn_left (bool reverse_turn)
	A function to turn the car left. More...

void	motor_turn_right (bool reverse_turn)
	A function to turn the car right. More...

void	motor_update_direction (uint clkwise_gpio, uint anti_clkwise_gpio, uint clkwise, uint anti_clkwise)
	A function to update the direction of the motor's rotation. More...

void	motor_update_pwm (uint pwm_gpio, uint pwm_wrap, float duty_cycle)
	A function to update the PWM duty cycle and wrap value. More...

void	motor_update_ratio (float new_ratio)
	Update the ratio of the left motor's duty cycle to the right motor's duty cycle. More...

Detailed Description

Header file for motor control drivers.

Author: Bryan Seah

Version: 0.1

Date: 2023-10-29

Copyright: Copyright (c) 2023

Function Documentation

◆ motor_move_forward()

void motor_move_forward ( void )

A function to move the car forward.

This function moves the car forward by setting the duty cycle of both motors to be equal, as well as setting a clockwise rotation for both motors.

References MOTOR_LEFT_PIN_ANTICLKWISE, MOTOR_LEFT_PIN_CLKWISE, MOTOR_PWM_PIN_LEFT, MOTOR_PWM_PIN_RIGHT, MOTOR_PWM_WRAP, MOTOR_RIGHT_PIN_ANTICLKWISE, MOTOR_RIGHT_PIN_CLKWISE, motor_update_direction(), and motor_update_pwm().

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◆ motor_reverse()

void motor_reverse ( void )

A function to reverse the car.

This function reverses the car by setting the duty cycle of both motors to be equal, as well as setting an anti-clockwise rotation for both motors.

References MOTOR_LEFT_PIN_ANTICLKWISE, MOTOR_LEFT_PIN_CLKWISE, MOTOR_PWM_PIN_LEFT, MOTOR_PWM_PIN_RIGHT, MOTOR_PWM_WRAP, MOTOR_RIGHT_PIN_ANTICLKWISE, MOTOR_RIGHT_PIN_CLKWISE, motor_update_direction(), and motor_update_pwm().

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◆ motor_start()

void motor_start	(	uint	clkwise_gpio,
		uint	anti_clkwise_gpio,
		uint	pwm_gpio
	)

Default initialization of a single motor.

The function initializes the PWM pin and the two GPIO pins for the: motor. It also sets the clock divider to 100 and enables the PWM slice.

Parameters

[in]	clkwise_gpio	GPIO pin number for clockwise rotation.
[in]	anti_clkwise_gpio	GPIO pin number for anticlockwise rotation.
[in]	pwm_gpio	GPIO pin number for PWM output to control motor speed.

References MOTOR_PWM_CLKDIV.

◆ motor_stop()

void motor_stop ( void )

A function to stop the car.

This function works by setting the duty cycle of both motors to 0.

References MOTOR_PWM_PIN_LEFT, MOTOR_PWM_PIN_RIGHT, MOTOR_PWM_WRAP, and motor_update_pwm().

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◆ motor_turn_left()

void motor_turn_left ( bool reverse_turn )

A function to turn the car left.

This function turns the car left by setting the duty cycle of the left motor to be lower than the right motor, which enables the car to turn left. In addition, the left motor is set to rotate in the opposite direction of the right motor.

Parameters

[in] reverse_turn A boolean value to indicate that the car is turning in reverse.

References MOTOR_LEFT_PIN_ANTICLKWISE, MOTOR_LEFT_PIN_CLKWISE, MOTOR_PWM_PIN_LEFT, MOTOR_PWM_PIN_RIGHT, MOTOR_PWM_WRAP, MOTOR_RIGHT_PIN_ANTICLKWISE, MOTOR_RIGHT_PIN_CLKWISE, motor_update_direction(), and motor_update_pwm().

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◆ motor_turn_right()

void motor_turn_right ( bool reverse_turn )

A function to turn the car right.

This function turns the car right by setting the duty cycle of the right motor to be lower than the left motor, which enables the car to turn left. In addition, the right motor is set to rotate in the opposite direction of the right motor.

Parameters

reverse_turn A boolean value to indicate that the car is turning in reverse.

References MOTOR_LEFT_PIN_ANTICLKWISE, MOTOR_LEFT_PIN_CLKWISE, MOTOR_PWM_PIN_LEFT, MOTOR_PWM_PIN_RIGHT, MOTOR_PWM_WRAP, MOTOR_RIGHT_PIN_ANTICLKWISE, MOTOR_RIGHT_PIN_CLKWISE, motor_update_direction(), and motor_update_pwm().

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◆ motor_update_direction()

void motor_update_direction	(	uint	clkwise_gpio,
		uint	anti_clkwise_gpio,
		uint	clkwise,
		uint	anti_clkwise
	)

A function to update the direction of the motor's rotation.

Parameters

[in]	clkwise_gpio	The GPIO pin number for clockwise rotation.
[in]	anti_clkwise_gpio	The GPIO pin number for anticlockwise rotation.
[in]	clkwise	The digital value to set for clockwise rotation.
[in]	anti_clkwise	The digital value to set for anticlockwise rotation.

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◆ motor_update_pwm()

void motor_update_pwm	(	uint	pwm_gpio,
		uint	pwm_wrap,
		float	duty_cycle
	)

A function to update the PWM duty cycle and wrap value.

This function updates the PWM duty cycle and wrap value of a PWM slice.: This is used to update / modify the speed of the motor's rotation.

Parameters

[in]	pwm_gpio	The GPIO pin number for the PWM output.
[in]	pwm_wrap	The wrap value of the PWM slice.
[in]	duty_cycle	The duty cycle of the PWM slice.

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◆ motor_update_ratio()

void motor_update_ratio ( float new_ratio )

Update the ratio of the left motor's duty cycle to the right motor's duty cycle.

Parameters

[in] new_ratio New ratio of the left motor's duty cycle to the right motor's duty cycle.

References g_ratio.

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Data Structures

Macros

Typedefs

Functions

Detailed Description

Function Documentation

◆ motor_move_forward()

◆ motor_reverse()

◆ motor_start()

◆ motor_stop()

◆ motor_turn_left()

◆ motor_turn_right()

◆ motor_update_direction()

◆ motor_update_pwm()

◆ motor_update_ratio()