motor.c

利用avr c编程的综合程序

#include "motor.h"

void motor(unsigned char address, short left_speed, short right_speed )
{
	static union {
		char string[4];
		short left_right[2];
	} TWI_speed;
	static unsigned char TWI_string[5];
	volatile static char TWI_flag = 0;
	static struct TWI_master_data TWI_data = { 5, TWI_string, &TWI_flag, 0 };
	static char time = 0;
	char i;
	if ( !time ) {
	TWI_initialize();
	TWI_master_initialize( 400 );
	time = 1;
	}
	while ( TWI_flag )
	;
	
	TWI_string[0] = address;
	TWI_speed.left_right[0] = -left_speed;
	TWI_speed.left_right[1] = right_speed;
	
	for( i = 0; i < 4; i++ )
		TWI_string[ i + 1 ] = TWI_speed.string[i];
	TWI_flag = 1;
	TWI_master( &TWI_data );
}