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Changed default direction for MOTORB

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Due to hardware design of MM board MOTORA and MOTORB had opposite
directions. Fixed by switching settings for MOTORB in
MMotor::direction(DIRECTION) function
This commit is contained in:
Jakob Bak 2013-02-01 11:33:43 +01:00
parent c983a92107
commit 8bd5f2b35c
1 changed files with 2 additions and 2 deletions
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software/lib/MMM/Motor.cpp
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@ -102,8 +102,8 @@ void MMotor::direction(DIRECTION d)
_d = d; _d = d;
if(_m == MOTORA && _d == FORWARD) PORTD |= (1 << PD7); if(_m == MOTORA && _d == FORWARD) PORTD |= (1 << PD7);
else if(_m == MOTORA && _d == BACKWARD) PORTD &= ~(1 << PD7); else if(_m == MOTORA && _d == BACKWARD) PORTD &= ~(1 << PD7);
else if(_m == MOTORB && _d == BACKWARD) PORTB |= (1 << PB0); else if(_m == MOTORB && _d == BACKWARD) PORTB &= ~(1 << PB0); // The direction of FORWARD and BACKWARD is
else if(_m == MOTORB && _d == FORWARD) PORTB &= ~(1 << PB0); else if(_m == MOTORB && _d == FORWARD) PORTB |= (1 << PB0); // switched for MOTORB due to hardware design
} }
void MMotor::stop() void MMotor::stop()