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PWM.c
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PWM.c
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/********************** QUALA **********************
Project : Quala Speedy Path Finder Main Board
Version : 0.1
Date : 4/29/2015
Author : Erfan Jazeb Nikoo
Company : Quala
********************** QUALA **********************/
#include "PWM.h"
int rightMotorPWM = MaxSpeed;
int leftMotorPWM = MaxSpeed;
void calculatePWMControllerSpeed()
{
int i = 0;
int onSensor = -1;
for (i = 0; i < 20; i++)
{
if (getSensorValue(i) == getLineColor())
{
getPWMOfSensor(i);
setRightMotorSpeed(getRightMotorPWM());
setLeftMotorSpeed(getLeftMotorPWM());
onSensor = i;
}
}
}
void getPWMOfSensor(int sensorNumber)
{
if (sensorNumber == 0)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 1)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 2)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 3)
{
rightMotorPWM = 180;
leftMotorPWM = 150;
}
else if (sensorNumber == 4)
{
rightMotorPWM = 150;
leftMotorPWM = 120;
}
else if (sensorNumber == 5)
{
rightMotorPWM = 200;
leftMotorPWM = 150;
}
else if (sensorNumber == 6)
{
rightMotorPWM = 200;
leftMotorPWM = 150;
}
else if (sensorNumber == 7)
{
rightMotorPWM = 220;
leftMotorPWM = 180;
}
else if (sensorNumber == 8)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = 215;
}
else if (sensorNumber == 9)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 10)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 11)
{
rightMotorPWM = 215;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 12)
{
rightMotorPWM = 180;
leftMotorPWM = 220;
}
else if (sensorNumber == 13)
{
rightMotorPWM = 150;
leftMotorPWM = 200;
}
else if (sensorNumber == 14)
{
rightMotorPWM = 150;
leftMotorPWM = 200;
}
else if (sensorNumber == 15)
{
rightMotorPWM = 135;
leftMotorPWM = 175;
}
else if (sensorNumber == 16)
{
rightMotorPWM = 150;
leftMotorPWM = 180;
}
else if (sensorNumber == 17)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 18)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 19)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 20)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 21)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 22)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 23)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
else if (sensorNumber == 24)
{
rightMotorPWM = MaxSpeed;
leftMotorPWM = MaxSpeed;
}
}
int getRightMotorPWM()
{
return rightMotorPWM;
}
int getLeftMotorPWM()
{
return leftMotorPWM;
}