motor_driver.c File Reference

Motor control functions for PWM-based direction and speed handling. More...

#include "motor_driver.h"
#include "encoder_driver.h"
#include "stm32f4xx_hal.h"
#include <stdint.h>

Macros
#define	PWM_MAX   4800
	Maximum PWM value used for scaling duty cycle.

Functions
void	set_duty (motor_t *p_mot, int32_t duty)
	Sets the motor duty cycle and direction using PWM.
void	disable (motor_t *p_mot)
	Disables the motor by setting both channels to 0% duty.
void	enable (motor_t *p_mot)
	Enables the motor by setting both channels to 100% duty.
void	go_to (motor_t *p_mot, int k_p, int where, int from)
	Moves the motor toward a target using proportional control.

Detailed Description

Motor control functions for PWM-based direction and speed handling.

Author

Kai De La Cruz

Created on: May 29, 2025

Function Documentation

disable()

void disable

(

motor_t *

p_mot

)

Disables the motor by setting both channels to 0% duty.

Disables the motor by setting both channels to zero.

Parameters

p_mot

Pointer to the motor structure

enable()

void enable

(

motor_t *

p_mot

)

Enables the motor by setting both channels to 100% duty.

Enables the motor by setting both channels to maximum.

Parameters

p_mot

Pointer to the motor structure

go_to()

void go_to	(	motor_t *	p_mot,
		int	k_p,
		int	where,
		int	from )

Moves the motor toward a target using proportional control.

Uses proportional control to move motor to a target.

Parameters

p_mot	Pointer to the motor structure
k_p	Proportional gain
where	Target position
from	Current position

set_duty()

void set_duty	(	motor_t *	p_mot,
		int32_t	duty )

Sets the motor duty cycle and direction using PWM.

Sets the duty cycle and direction of the motor.

Parameters

p_mot	Pointer to the motor structure
duty	Desired duty cycle (-100 to 100 percent)