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motors.c
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#include <xc.h>
#include "configBits.h"
#include <stdio.h>
#include "motors.h"
#include "constants.h"
void turnPlatsLeft(unsigned char deg){
plat1c1a(1);
plat1c1b(0);
plat2c1a(1);
plat2c1b(0);
for (unsigned char i=0; i<deg; i++){
if (screenMode != OPERATING)
break;
plat1c2a(1);
plat1c2b(0);
plat2c2a(1);
plat2c2b(0);
__delay_ms(7);
plat1c1a(0);
plat1c1b(1);
plat2c1a(0);
plat2c1b(1);
__delay_ms(7);
plat1c2a(0);
plat1c2b(1);
plat2c2a(0);
plat2c2b(1);
__delay_ms(7);
plat1c1a(1);
plat1c1b(0);
plat2c1a(1);
plat2c1b(0);
__delay_ms(7);
}
}
void turnPlatsRight(unsigned char deg){
plat1c1a(1);
plat1c1b(0);
plat2c1a(1);
plat2c1b(0);
for (unsigned char i=0; i<deg; i++){
if (screenMode != OPERATING)
break;
plat1c2a(0);
plat1c2b(1);
plat2c2a(0);
plat2c2b(1);
__delay_ms(7);
plat1c1a(0);
plat1c1b(1);
plat2c1a(0);
plat2c1b(1);
__delay_ms(7);
plat1c2a(1);
plat1c2b(0);
plat2c2a(1);
plat2c2b(0);
__delay_ms(7);
plat1c1a(1);
plat1c1b(0);
plat2c1a(1);
plat2c1b(0);
__delay_ms(7);
}
}
void turnPlat1Left(unsigned char deg){
plat1c1a(1);
plat1c1b(0);
for (unsigned char i=0; i<deg; i++){
if (screenMode != OPERATING)
break;
plat1c2a(1);
plat1c2b(0);
__delay_ms(7);
plat1c1a(0);
plat1c1b(1);
__delay_ms(7);
plat1c2a(0);
plat1c2b(1);
__delay_ms(7);
plat1c1a(1);
plat1c1b(0);
__delay_ms(7);
}
}
void turnPlat2Left(unsigned char deg){
plat2c1a(1);
plat2c1b(0);
for (unsigned char i=0; i<deg; i++){
if (screenMode != OPERATING)
break;
plat2c2a(1);
plat2c2b(0);
__delay_ms(7);
plat2c1a(0);
plat2c1b(1);
__delay_ms(7);
plat2c2a(0);
plat2c2b(1);
__delay_ms(7);
plat2c1a(1);
plat2c1b(0);
__delay_ms(7);
}
}
void turnPlat1Right(unsigned char deg){
plat1c1a(1);
plat1c1b(0);
for (unsigned char i=0; i<deg; i++){
if (screenMode != OPERATING)
break;
plat1c2a(0);
plat1c2b(1);
__delay_ms(7);
plat1c1a(0);
plat1c1b(1);
__delay_ms(7);
plat1c2a(1);
plat1c2b(0);
__delay_ms(7);
plat1c1a(1);
plat1c1b(0);
__delay_ms(7);
}
}
void turnPlat2Right(unsigned char deg){
plat2c1a(1);
plat2c1b(0);
for (unsigned char i=0; i<deg; i++){
if (screenMode != OPERATING)
break;
plat2c2a(0);
plat2c2b(1);
__delay_ms(7);
plat2c1a(0);
plat2c1b(1);
__delay_ms(7);
plat2c2a(1);
plat2c2b(0);
__delay_ms(7);
plat2c1a(1);
plat2c1b(0);
__delay_ms(7);
}
}