motors.h

00001 /* University of York Robotics Laboratory PsiSwarm Library: Motor Functions Header File
00002  * 
00003  * File: motors.h
00004  *
00005  * (C) Dept. Electronics & Computer Science, University of York
00006  * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
00007  * 
00008  * PsiSwarm Library Version: 0.3
00009  *
00010  * October 2015
00011  *
00012  */ 
00013 
00014 #ifndef MOTORS_H
00015 #define MOTORS_H
00016 
00017 void set_left_motor_speed(float speed);
00018 void set_right_motor_speed(float speed);
00019 void brake_left_motor(void);
00020 void brake_right_motor(void);
00021 void brake(void);
00022 void stop(void);
00023 void forward(float speed);
00024 void backward(float speed);
00025 void turn(float speed);
00026 
00027 // New time based functions (library v0.3)
00028 void time_based_forward(float speed, int microseconds, char brake);
00029 void time_based_turn(float speed, int microseconds, char brake);
00030 int time_based_turn_degrees(float speed, float degrees, char brake);
00031 float get_maximum_turn_angle(int microseconds);
00032 int get_time_based_turn_time(float speed, float degrees);
00033 void IF_check_time_for_existing_time_based_action();
00034 void IF_end_time_based_action();
00035 
00036 void IF_update_motors();
00037 float IF_calibrated_speed(float speed);
00038 void IF_init_motors(void);
00039 
00040 #endif