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grovemd: allow seperate directions for each DC motor

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
Jon Trulson
2015-03-18 12:20:19 -06:00
committed by Mihai Tudor Panu
parent d380658b40
commit 970d6a083f
4 changed files with 24 additions and 15 deletions
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5
src/grovemd/grovemd.cxx
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@ -108,12 +108,13 @@ bool GroveMD::setPWMFrequencyPrescale(uint8_t freq)
return writePacket(SET_PWM_FREQ, freq, GROVEMD_NOOP);
}
bool GroveMD::setDirection(DIRECTION_T dir)
bool GroveMD::setMotorDirections(DC_DIRECTION_T dirA, DC_DIRECTION_T dirB)
{
uint8_t dir = ((dirB & 0x03) << 2) | (dirA & 0x03);
return writePacket(SET_DIRECTION, dir, GROVEMD_NOOP);
}
bool GroveMD::enableStepper(DIRECTION_T dir, uint8_t speed)
bool GroveMD::enableStepper(STEP_DIRECTION_T dir, uint8_t speed)
{
return writePacket(STEPPER_ENABLE, dir, speed);
}