User manual

48 l Robotics experiment with PIC microcontroller
Listing 4-1 : The source code of motor.h library file for driving the DC motor
(continue)
/********** Motor B Forward ********/
void Motor_B_FWD()
{
Pwm2_Start();
PORTB.F1 =0;
PORTB.F2 =1;
}
/************************************/
/********** Motor A Backward *******/
void Motor_A_BWD()
{
Pwm1_Start();
PORTD.F0 =1;
PORTD.F1 =0;
}
/************************************/
/********** Motor B Backward *******/
void Motor_B_BWD()
{
Pwm2_Start();
PORTB.F1 =1;
PORTB.F2 =0;
}
/************************************/
/********** Motor A Off ************/
void Motor_A_Off()
{
Pwm1_Stop();
PORTD.F0 =0;
PORTD.F1 =0;
}
/************************************/
/********** Motor B Off ************/
void Motor_B_Off()
{
Pwm2_Stop();
PORTB.F1 =0;
PORTB.F2 =0;
}
/************************************/
/********** Go Forward ************/
void Forward(char speed)
{
Motor_Init();
Change_Duty(speed);
Motor_A_FWD();
Motor_B_FWD();
}
/************************************/