libwallaby  v24
The wallaby standard library
motors.h File Reference

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Functions

int get_motor_position_counter (int motor)
 Gets the current motor position. More...
 
int gmpc (int motor)
 Gets the current motor position. More...
 
void clear_motor_position_counter (int motor)
 Clears the motor position counter. More...
 
void cmpc (int motor)
 Clears the motor position counter. More...
 
int move_at_velocity (int motor, int velocity)
 Set a goal velocity in ticks per second. \detailed The range is -1500 to 1500, though motor position accuracy may be decreased outside of -1000 to 1000. More...
 
int mav (int motor, int velocity)
 Set a goal velocity in ticks per second. More...
 
int move_to_position (int motor, int speed, int goal_pos)
 Set a goal position (in ticks) for the motor to move to. \detailed There are approximately 1500 ticks per motor revolution. \detailed This function is more accurate if speeds between -1000 and 1000 are used. More...
 
int mtp (int motor, int speed, int goal_pos)
 Set a goal position (in ticks) for the motor to move to. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
int freeze (int motor)
 Active braking to stop a motor. More...
 
int get_motor_done (int motor)
 Check if the motor has reached it's goal. More...
 
void block_motor_done (int motor)
 Wait until the motor is at it's goal. More...
 
void bmd (int motor)
 Wait until the motor is at it's goal. More...
 
int setpwm (int motor, int pwm)
 Set the motor pwm (percent power) command. More...
 
int getpwm (int motor)
 Get the current motor pwm command. More...
 
void fd (int motor)
 Moves the given motor forward at full power. More...
 
void bk (int motor)
 Moves the given motor backward at full power. More...
 
void motor (int motor, int percent)
 Moves a motor at a percent velocity. More...
 
void motor_power (int motor, int percent)
 Moves a motor at a percent power. More...
 
void off (int motor)
 Turns the specified motor off. More...
 
void alloff ()
 Turns all motors off. More...
 
void ao ()
 Turns all motors off. More...
 

Detailed Description