FPGA, SoC, And CPLD Boards And Kits
FPGA Evaluation and Development Kits
Announcements
Intel Support hours are Monday-Fridays, 8am-5pm PST, except Holidays. Thanks to our community members who provide support during our down time or before we get to your questions. We appreciate you!

Need Forum Guidance? Click here
Search our FPGA Knowledge Articles here.
5288 Discussions

Changing the degrees the BeInMotion kit rotate

Altera_Forum
Honored Contributor II
789 Views

So far I'm new in programming FPGAs and using the Quartus , Qsys and Nios. I tried to change all the values in the void turn_left() but returned empty handed. So far I'm grasping the basics but i'm pretty it is in that function. I want it to rotate from 90 degrees to around 45 deg. so that it will be smoother. Here's the code 

 

int turn_left() 

int dc_m1_pwm_duty = dc_m1_pwm_freq/4; 

int dc_m2_pwm_duty = dc_m2_pwm_freq/4; 

 

dc1_cmp = 1; 

dc2_cmp = 1; 

 

IOWR(IR_RX2_BASE,0x00,0); 

IOWR(IR_RX1_BASE,0x00,0); 

IOWR(DC2_PWM2_BASE+0x08,0,0); 

IOWR(DC1_PWM1_BASE+0x08,0,0); 

 

IOWR(DC2_PWM1_BASE,0,dc_m2_pwm_freq); 

IOWR(DC2_PWM1_BASE+0x04,0,dc_m2_pwm_duty); 

IOWR(DC1_PWM2_BASE,0,dc_m1_pwm_freq); 

IOWR(DC1_PWM2_BASE+0x04,0,dc_m1_pwm_duty); 

 

IOWR(IR_RX2_BASE,1,722); 

IOWR(IR_RX1_BASE,1,722); 

IOWR(IR_RX2_BASE,0x00,1); 

IOWR(IR_RX1_BASE,0x00,1); 

 

IOWR(DC1_PWM2_BASE+0x08,0,1); 

IOWR(DC2_PWM1_BASE+0x08,0,1); 

 

while(1) 

if(( dc1_cmp ==0 ) && (dc2_cmp ==0 )) 

return 0; 

else 

usleep(90000); 

dc_m1 = IORD(IR_RX1_BASE,1); 

dc_m2 = IORD(IR_RX2_BASE,1); 

i = dc_m1-dc_m2; 

j = dc_m2-dc_m1; 

if(i > 5) { 

if(dc_m2_pwm_duty >= 100) 

dc_m2_pwm_duty-=50; 

if(dc_m1_pwm_duty < 850) 

dc_m1_pwm_duty+=50; 

IOWR(DC2_PWM1_BASE+0x04,0,dc_m2_pwm_duty); 

IOWR(DC1_PWM2_BASE+0x04,0,dc_m1_pwm_duty); 

else 

if(j > 5) { 

if(dc_m1_pwm_duty >= 50); 

dc_m1_pwm_duty-=50; 

if(dc_m2_pwm_duty < 1700) 

dc_m2_pwm_duty+=50; 

IOWR(DC2_PWM1_BASE+0x04,0,dc_m2_pwm_duty); 

IOWR(DC1_PWM2_BASE+0x04,0,dc_m1_pwm_duty); 

 

Hope someone and I'll appreciate it. Thank you in advance.
0 Kudos
0 Replies
Reply