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motor_states.h
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motor_states.h
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#ifndef MOTOR_STATES_H
#define MOTOR_STATES_H
#include "pins.h"
#include <stdbool.h>
#include <avr/interrupt.h>
volatile bool motor_state_change_flag;
inline void motor_stop()
{
//cli();
CLR_MOTOR_GATE_1();
CLR_MOTOR_GATE_2();
CLR_MOTOR_GATE_3();
CLR_MOTOR_GATE_4();
CLR_MOTOR_GATE_5();
CLR_MOTOR_GATE_6();
//sei();
}
inline void test_gates_on()
{
//cli();
SET_MOTOR_GATE_1();
SET_MOTOR_GATE_2();
SET_MOTOR_GATE_3();
SET_MOTOR_GATE_4();
SET_MOTOR_GATE_5();
SET_MOTOR_GATE_6();
TCNT1 = 0;
motor_state_change_flag = true;
//sei();
}
inline void f1()
{
//cli();
SET_MOTOR_GATE_1();
CLR_MOTOR_GATE_2();
CLR_MOTOR_GATE_3();
CLR_MOTOR_GATE_4();
SET_MOTOR_GATE_5();
CLR_MOTOR_GATE_6();
TCNT1 = 0;
motor_state_change_flag = true;
//sei();
}
inline void f2()
{
//cli();
CLR_MOTOR_GATE_1();
SET_MOTOR_GATE_2();
CLR_MOTOR_GATE_3();
CLR_MOTOR_GATE_4();
CLR_MOTOR_GATE_5();
SET_MOTOR_GATE_6();
TCNT1 = 0;
motor_state_change_flag = true;
//sei();
}
inline void f3()
{
//cli();
CLR_MOTOR_GATE_1();
CLR_MOTOR_GATE_2();
SET_MOTOR_GATE_3();
SET_MOTOR_GATE_4();
CLR_MOTOR_GATE_5();
CLR_MOTOR_GATE_6();
TCNT1 = 0;
motor_state_change_flag = true;
//sei();
}
inline void b1()
{
//cli();
CLR_MOTOR_GATE_1();
SET_MOTOR_GATE_2();
CLR_MOTOR_GATE_3();
SET_MOTOR_GATE_4();
CLR_MOTOR_GATE_5();
CLR_MOTOR_GATE_6();
TCNT1 = 0;
motor_state_change_flag = true;
//sei();
}
inline void b2()
{
//cli();
SET_MOTOR_GATE_1();
CLR_MOTOR_GATE_2();
CLR_MOTOR_GATE_3();
CLR_MOTOR_GATE_4();
CLR_MOTOR_GATE_5();
SET_MOTOR_GATE_6();
TCNT1 = 0;
motor_state_change_flag = true;
//sei();
}
inline void b3()
{
//cli();
CLR_MOTOR_GATE_1();
CLR_MOTOR_GATE_2();
SET_MOTOR_GATE_3();
CLR_MOTOR_GATE_4();
SET_MOTOR_GATE_5();
CLR_MOTOR_GATE_6();
TCNT1 = 0;
motor_state_change_flag = true;
//sei();
}
#endif