motor.c

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#include "motor.h"
#include "pwm.h"
#include <regx51.h>
#include <absacc.h>

sbit drv_motor_enb0 = P0^0;
sbit drv_motor_enb1 = P0^4;

sbit drv_motor_dir0 = P0^2;
sbit drv_motor_dir1 = P0^6;

void drv_motor_set_speed(unsigned char index, short speed)
{
	if(index == 0)
	{
		if(speed == 0)
		{
			drv_motor_enb0 = 0;
		}
		else
		{
			drv_motor_enb0 = 1;
			if(speed > 0)
			{
				drv_motor_dir0 = 0;
				drv_pwm_set_rate(0, speed);
			}
			else
			{
				drv_motor_dir0 = 1;
				drv_pwm_set_rate(0, 100+speed);
			}
		}
	}
	else
	{
		if(speed == 0)
		{
			drv_motor_enb1 = 0;
		}
		else
		{
			drv_motor_enb1 = 1;
			if(speed > 0)
			{
				drv_motor_dir1 = 0;
				drv_pwm_set_rate(1, speed);
			}
			else
			{
				drv_motor_dir1 = 1;
				drv_pwm_set_rate(1, 100+speed);
			}
		}
	}
}