dmotor.h File Reference

Interface: direct motor control. More...

#include <config.h>

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Classes
struct	MotorState
	the motor status type. More...

Macros
#define	MIN_SPEED   0
	minimum motor speed
#define	MAX_SPEED   255
	maximum motor speed

Enumerations
enum	MotorDirection { off = 0 , fwd = 1 , rev = 2 , brake = 3 }
	the motor directions More...

Functions
void	motor_a_dir (MotorDirection dir)
	set motor A direction to dir
void	motor_b_dir (MotorDirection dir)
	set motor B direction to dir
void	motor_c_dir (MotorDirection dir)
	set motor C direction to dir
void	motor_a_speed (unsigned char speed)
	set motor A speed
void	motor_b_speed (unsigned char speed)
	set motor B speed
void	motor_c_speed (unsigned char speed)
	set motor C speed

Variables
const unsigned char	dm_a_pattern [4]
	motor drive patterns
const unsigned char	dm_b_pattern [4]
const unsigned char	dm_c_pattern [4]
MotorState	dm_a
	motor A state
MotorState	dm_b
	motor B state
MotorState	dm_c
	motor C state

Detailed Description

Interface: direct motor control.

Author

Markus L. Noga marku.nosp@m.s@no.nosp@m.ga.de

Definition in file dmotor.h.

Macro Definition Documentation

MAX_SPEED

#define MAX_SPEED   255

maximum motor speed

Definition at line 72 of file dmotor.h.

MIN_SPEED

#define MIN_SPEED   0

minimum motor speed

Definition at line 71 of file dmotor.h.

Enumeration Type Documentation

MotorDirection

enum MotorDirection

the motor directions

Enumerator
off	freewheel
fwd	forward
rev	reverse
brake	hold current position

Definition at line 44 of file dmotor.h.

Function Documentation

motor_a_dir()

void motor_a_dir ( MotorDirection  dir )

extern

set motor A direction to dir

motor_a_speed()

void motor_a_speed ( unsigned char  speed )

externinline

set motor A speed

Parameters

speed

the speed

Definition at line 143 of file dmotor.h.

References MotorState::access, MotorState::c, MotorState::delta, and dm_a.

motor_b_dir()

void motor_b_dir ( MotorDirection  dir )

extern

set motor B direction to dir

motor_b_speed()

void motor_b_speed ( unsigned char  speed )

externinline

set motor B speed

Parameters

speed

the speed

Definition at line 151 of file dmotor.h.

References MotorState::access, MotorState::c, MotorState::delta, and dm_b.

motor_c_dir()

void motor_c_dir ( MotorDirection  dir )

extern

set motor C direction to dir

motor_c_speed()

void motor_c_speed ( unsigned char  speed )

externinline

set motor C speed

Parameters

speed

the speed

Definition at line 159 of file dmotor.h.

References MotorState::access, MotorState::c, MotorState::delta, and dm_c.

Variable Documentation

dm_a

MotorState dm_a

extern

motor A state

Referenced by motor_a_speed().

dm_a_pattern

const unsigned char dm_a_pattern[4]

extern

motor drive patterns

to be indexed with MotorDirections

See also

MotorDirections

dm_b

MotorState dm_b

motor B state

Definition at line 89 of file dmotor.h.

Referenced by motor_b_speed().

dm_b_pattern

const unsigned char dm_b_pattern[4]

Definition at line 85 of file dmotor.h.

dm_c

MotorState dm_c

motor C state

Definition at line 90 of file dmotor.h.

Referenced by motor_c_speed().

dm_c_pattern

const unsigned char dm_c_pattern[4]

Definition at line 86 of file dmotor.h.