Class Hierarchy Compound List File List Compound Members File Members

direct-motor.h File Reference

direct motor access. More...

Compounds

struct MotorState

Defines

#define MIN_SPEED
minimum motor speed.
#define MAX_SPEED
maximum motor speed.

Enumerations

enum MotorDirection { off, fwd, rev, brake }
the motor directions. More...

Functions

void dm_init (void)
initialize motors.
void dm_shutdown (void)
shutdown motors.
const void motor_a_dir (MotorDirection dir)
set motor A direction. More...
const void motor_b_dir (MotorDirection dir)
set motor B direction. More...
const void motor_c_dir (MotorDirection dir)
set motor C direction. More...
const void motor_a_speed (unsigned char speed)
set motor A speed. More...
const void motor_b_speed (unsigned char speed)
set motor B speed. More...
const void motor_c_speed (unsigned char speed)
set motor C speed. More...

Variables

const unsigned char dm_a_pattern [4]
motor drive patterns. More...
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

direct motor access.

Author(s):: Markus L. Noga <noga@inrialpes.fr>

Enumeration Type Documentation

enum MotorDirection

the motor directions.

Enumeration values:

off
freewheel.
fwd
forward.
rev
reverse.
brake
hold current position.

Function Documentation

const void motor_a_dir (MotorDirection dir)

set motor A direction.

Parameters:: dir - the direction

const void motor_b_dir (MotorDirection dir)

set motor B direction.

Parameters:: dir - the direction

const void motor_c_dir (MotorDirection dir)

set motor C direction.

Parameters:: dir - the direction

const void motor_a_speed (unsigned char speed)

set motor A speed.

Parameters:: speed - the speed

const void motor_b_speed (unsigned char speed)

set motor B speed.

Parameters:: speed - the speed

const void motor_c_speed (unsigned char speed)

set motor C speed.

Parameters:: speed - the speed

Variable Documentation

const unsigned char dm_a_pattern[4]

motor drive patterns.

to be indexed with MotorDirections

See also:: MotorDirections

const unsigned char dm_b_pattern[4]

to be indexed with MotorDirections

See also:: MotorDirections

const unsigned char dm_c_pattern[4]

to be indexed with MotorDirections

See also:: MotorDirections