Diff: motors.h

Revision:

3:8762f6b2ea8d

Parent:

1:a6728adaf7e7

Child:

5:6da8daaeb9f7

--- a/motors.h	Sat Nov 26 21:50:10 2016 +0000
+++ b/motors.h	Mon Nov 28 22:41:14 2016 +0000
@@ -11,83 +11,117 @@
     * Setup the PWM based H-Bridge drivers for the motors
     */
     void init(void);
-    
-    
+
+    /**
+    * Returns the current [adjusted] value for the target left motor speed
+    *
+    * @returns The speed value from -1.0 to 1.0
+    */
+    float get_left_motor_speed(void);
+
+    /**
+    * Returns the current [adjusted] value for the target right motor speed
+    *
+    * @returns The speed value from -1.0 to 1.0
+    */
+    float get_right_motor_speed(void);
+
+    /**
+    * Calls set_left_motor_speed and set_right_motor_speed with equal values
+    *
+    * @params speed - The forward speed value from -1.0 to 1.0
+    */
+    void forwards(float speed);
+
+    /**
+    * Calls set_left_motor_speed and set_right_motor_speed with equal inverse values
+    *
+    * @params speed - The forward speed value from -1.0 (max forwards) to 1.0 (max reverse)
+    */
+    void backwards(float speed);
+
+    /**
+    * Calls set_left_motor_speed and set_right_motor_speed with sign-opposite values
+    *
+    * @params speed - The forward speed value from -1.0 (max counterclockwise) to 1.0 (max clockwise)
+    */
+    void turn(float speed);
+
     /**
      * Put the H-Bridge drivers in sleep (low-power) mode
-     */ 
+     */
     void sleep(void);
-    
+
     /**
      * Wake the H-Bridge drivers from sleep mode
      */
     void wake_up(void);
-    
+
     /**
      * Set the left H-Bridge driver to high-Z (coast mode) for the motor
      */
     void coast_left(void);
-    
+
     /**
      * Set the left H-Bridge driver to active brake
      */
     void brake_left(void);
-    
+
     /**
      * Set the speed and direction of the left-motor H-Bridge driver
      *
      * @param speed - A value between -1.0 [max reverse], 0 [coast] and 1.0 [max forward]
      */
     void set_left_motor_speed(float speed);
-    
+
     /**
      * Set the right H-Bridge driver to high-Z (coast mode) for the motor
      */
     void coast_right(void);
-    
+
     /**
      * Set the right H-Bridge driver to active brake
      */
     void brake_right(void);
-    
+
     /**
      * Set both H-Bridge drivers to high-Z (coast mode) for the motor
      */
     void coast(void);
-    
-     /**
-     * Set both H-Bridge drivers to active brake
-     */
+
+    /**
+    * Set both H-Bridge drivers to active brake
+    */
     void brake(void);
-    
+
     /**
      * Set the speed and direction of the right-motor H-Bridge driver
      *
      * @param speed - A value between -1.0 [max reverse], 0 [coast] and 1.0 [max forward]
      */
     void set_right_motor_speed(float speed);
-    
+
     /**
      * Get the approximate instantaneous current draw of the left-motor H-Bridge driver
      *
      * @returns The current value in A
      */
     float get_current_left(void);
-    
+
     /**
      * Get the approximate instantaneous current draw of the right-motor H-Bridge driver
      *
      * @returns The current value in A
      */
     float get_current_right(void);
-    
+
     /**
      * Calculates an adjusted speed value to avoid stalls at low-speeds if USE_STALL_OFFSET is set to 1 [in robot.h]
      * @params speed_in - The speed value from 0.0 to 1.0
      * @returns The adjusted speed value from 0.0 to 1.0, increased by STALL_OFFSET then scaled to fit
      */
     float get_adjusted_speed(float speed_in);
-    
+
 
 };