libkipr  1.0.0
motor.h
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1 
7 #ifndef _KIPR_MOTOR_MOTOR_H_
8 #define _KIPR_MOTOR_MOTOR_H_
9 
10 #ifdef __cplusplus
11 extern "C" {
12 #endif
13 
20 int get_motor_position_counter(int motor);
21 
28 int gmpc(int motor);
29 
30 
37 void clear_motor_position_counter(int motor);
38 
39 
46 void cmpc(int motor);
47 
48 
49 
58 int move_at_velocity(int motor, int velocity);
59 
67 int mav(int motor, int velocity);
68 
69 
80 int move_to_position(int motor, int speed, int goal_pos);
81 
82 
91 int mtp(int motor, int speed, int goal_pos);
92 
101 int move_relative_position(int motor, int speed, int delta_pos);
102 
111 int mrp(int motor, int speed, int delta_pos);
112 
124 void set_pid_gains(int motor, short p, short i, short d, short pd, short id, short dd);
125 
126 
138 void get_pid_gains(int motor, short * p, short * i, short * d, short * pd, short * id, short * dd);
139 
145 int freeze(int motor);
146 
153 int get_motor_done(int motor);
154 
161 void block_motor_done(int motor);
162 
169 void bmd(int motor);
170 
177 int setpwm(int motor, int pwm);
178 
184 int getpwm(int motor);
185 
186 
192 void fd(int motor);
193 
194 
200 void bk(int motor);
201 
202 
211 void motor(int motor, int percent);
212 
222 void baasbennaguui(int motor, int percent);
223 
232 void motor_power(int motor, int percent);
233 
234 
240 void off(int motor);
241 
247 void alloff();
248 
254 void ao();
255 
256 #ifdef __cplusplus
257 }
258 #endif
259 
260 #endif
motor
void motor(int motor, int percent)
Moves a motor at a percent velocity.
move_at_velocity
int move_at_velocity(int motor, int velocity)
Set a goal velocity in ticks per second.
get_motor_done
int get_motor_done(int motor)
Check if the motor has reached it's goal.
move_relative_position
int move_relative_position(int motor, int speed, int delta_pos)
Set a goal position (in ticks) for the motor to move to, relative to the current position.
cmpc
void cmpc(int motor)
Clears the motor position counter.
bk
void bk(int motor)
Moves the given motor backward at full power.
gmpc
int gmpc(int motor)
Gets the current motor position.
freeze
int freeze(int motor)
Active braking to stop a motor.
block_motor_done
void block_motor_done(int motor)
Wait until the motor is at it's goal.
fd
void fd(int motor)
Moves the given motor forward at full power.
get_motor_position_counter
int get_motor_position_counter(int motor)
Gets the current motor position.
set_pid_gains
void set_pid_gains(int motor, short p, short i, short d, short pd, short id, short dd)
Set the motor PID gains, represented as fractions.
motor_power
void motor_power(int motor, int percent)
Moves a motor at a percent power.
mrp
int mrp(int motor, int speed, int delta_pos)
Set a goal position (in ticks) for the motor to move to, relative to the current position.
off
void off(int motor)
Turns the specified motor off.
clear_motor_position_counter
void clear_motor_position_counter(int motor)
Clears the motor position counter.
bmd
void bmd(int motor)
Wait until the motor is at it's goal.
get_pid_gains
void get_pid_gains(int motor, short *p, short *i, short *d, short *pd, short *id, short *dd)
Set the motor PID gains, represented as fractions.
mav
int mav(int motor, int velocity)
Set a goal velocity in ticks per second.
baasbennaguui
void baasbennaguui(int motor, int percent)
Moves a motor at a percent velocity.
alloff
void alloff()
Turns all motors off.
getpwm
int getpwm(int motor)
Get the current motor pwm command.
ao
void ao()
Turns all motors off.
setpwm
int setpwm(int motor, int pwm)
Set the motor pwm (percent power) command.
mtp
int mtp(int motor, int speed, int goal_pos)
Set a goal position (in ticks) for the motor to move to.
move_to_position
int move_to_position(int motor, int speed, int goal_pos)
Set a goal position (in ticks) for the motor to move to.