- case DIR_STATE_F:
- if (ad->f_value) {
- if (ad->r_value) {
- ad->dir_state = DIR_STATE_S;
- dc_motor_speed_set(DC_MOTOR_ID_L, 0);
- dc_motor_speed_set(DC_MOTOR_ID_R, 0);
- } else {
- ad->dir_state = DIR_STATE_B;
- dc_motor_speed_set(DC_MOTOR_ID_L, -2000);
- dc_motor_speed_set(DC_MOTOR_ID_R, -2000);
- }
- }
- break;
- case DIR_STATE_B:
- if (ad->r_value) {
- if (ad->f_value) {
- ad->dir_state = DIR_STATE_S;
- dc_motor_speed_set(DC_MOTOR_ID_L, 0);
- dc_motor_speed_set(DC_MOTOR_ID_R, 0);
- } else {
- ad->dir_state = DIR_STATE_F;
- dc_motor_speed_set(DC_MOTOR_ID_L, 2000);
- dc_motor_speed_set(DC_MOTOR_ID_R, 2000);
- }
+ case DIR_STATE_F:
+ if (ad->f_value) {
+ if (ad->r_value) {
+ ad->dir_state = DIR_STATE_S;
+ resource_set_motor_driver_L298N_speed(MOTOR_ID_1, 0);
+ resource_set_motor_driver_L298N_speed(MOTOR_ID_2, 0);
+ } else {
+ ad->dir_state = DIR_STATE_B;
+ __servo_motor_test();
+ resource_set_motor_driver_L298N_speed(MOTOR_ID_1, -2000);
+ resource_set_motor_driver_L298N_speed(MOTOR_ID_2, -2000);