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Left shift

This commit is contained in:
Johannes Frohnmeyer 2023-02-01 13:25:12 +01:00
parent d278d5decc
commit 6ae6a653c7
Signed by: Johannes
GPG Key ID: E76429612C2929F4
1 changed files with 4 additions and 6 deletions
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10
gradual_input.ino
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@ -39,19 +39,17 @@ void loop() {
} }
void writeMotor(char left, char right) { void writeMotor(char left, char right) {
byte prec = 1;
if (right == 0) { if (right == 0) {
digitalWrite(2, LOW); digitalWrite(2, LOW);
digitalWrite(4, LOW); digitalWrite(4, LOW);
} else if (right > 0) { } else if (right > 0) {
digitalWrite(2, LOW); digitalWrite(2, LOW);
digitalWrite(4, HIGH); digitalWrite(4, HIGH);
digitalWrite(3, byte(right) / prec); digitalWrite(3, byte(right) << 1);
} else { } else {
digitalWrite(2, HIGH); digitalWrite(2, HIGH);
digitalWrite(4, LOW); digitalWrite(4, LOW);
digitalWrite(3, byte(-right) / prec); digitalWrite(3, byte(-(right + 1)) << 1);
} }
if (left == 0) { if (left == 0) {
@ -60,10 +58,10 @@ void writeMotor(char left, char right) {
} else if (left > 0) { } else if (left > 0) {
digitalWrite(5, LOW); digitalWrite(5, LOW);
digitalWrite(7, HIGH); digitalWrite(7, HIGH);
digitalWrite(6, byte(left) / prec); digitalWrite(6, byte(left) << 1);
} else { } else {
digitalWrite(5, HIGH); digitalWrite(5, HIGH);
digitalWrite(7, LOW); digitalWrite(7, LOW);
digitalWrite(6, byte(-left) / prec); digitalWrite(6, byte(-(left + 1)) << 1);
} }
} }