From 2799ea8e029d6e5bfb6b881ba583dcb273a17dae Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Thu, 25 Jan 2024 11:13:42 +0100
Subject: [PATCH] Set correct direction for left motor
---
src/tb6612fng.rs | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/tb6612fng.rs b/src/tb6612fng.rs
index 3ef6635..163ad42 100644
--- a/src/tb6612fng.rs
+++ b/src/tb6612fng.rs
@@ -91,14 +91,19 @@ impl Tb6612fng {
self.standby.set_high();
}
- pub fn move_left(&mut self, value: Movement) {
+ pub fn move_right(&mut self, value: Movement) {
let (i1, i2, duty) = value.into_command();
self.a1.set_state(i1);
self.a2.set_state(i2);
self.pwm.set_duty(Channel::C3, duty);
}
- pub fn move_right(&mut self, value: Movement) {
+ pub fn move_left(&mut self, value: Movement) {
+ let value = if let Movement::Advance(v) = value {
+ Movement::Advance(-v)
+ } else {
+ value
+ };
let (i1, i2, duty) = value.into_command();
self.b1.set_state(i1);
self.b2.set_state(i2);
--
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