Diff: mtrctl.h

Revision:

0:4fc76af15d0e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtrctl.h	Tue Oct 14 03:55:04 2014 +0000
@@ -0,0 +1,44 @@
+#ifndef _MTRCTL_H_
+#define _MTRCTL_H_
+
+#include "mbed.h"
+
+/**********************************************************************************
+* Servo parameters
+***********************************************************************************/
+#define OP_PERIOD 90900/* us
+* Description: operation period to control propulsion motors
+*/
+
+#define MAX_POWER 1000/*
+* Description: logical, max value allowed for a PWM channel
+*/
+
+#define MIN_POWER 100/*
+* Description: logical, min value allowed for a PWM channel
+*/
+
+#define MAX_DIRECTION_VAL 128/*
+* Description: Maximum direction value, it means totally right, 0 means totally left
+*/
+
+#define SCALE_DIR2SPEED (uint16_t)(MAX_POWER/MAX_DIRECTION_VAL)
+
+/**********************************************************************************
+* Variable types definition
+***********************************************************************************/
+typedef enum
+{
+    nLeftMotor = 0,
+    nRightMotor,
+    nNoOfMotors
+}MTRCTL_tenMotors;
+/**********************************************************************************
+* Global functions
+***********************************************************************************/
+void MTRCTL_vInit( void );
+void MTRCTL_vSetMaxSpeed( uint16_t u16MaxSpeed );
+void MTRCTL_vSetMotorPower( uint16_t u16InPwr, MTRCTL_tenMotors enMotor );
+void MTRCTL_vSetSystemSpeed( uint16_t u16Speed, uint8_t u8Direction );
+
+#endif
\ No newline at end of file