Diff: motors.h

Revision:

0:d6269d17c8cf

Child:

2:c6986ee3c7c5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motors.h	Thu Feb 04 21:48:54 2016 +0000
@@ -0,0 +1,41 @@
+/* University of York Robotics Laboratory PsiSwarm Library: Motor Functions Header File
+ * 
+ * File: motors.h
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
+ *
+ * PsiSwarm Library Version: 0.4
+ *
+ * February 2016
+ *
+ *
+ */ 
+
+#ifndef MOTORS_H
+#define MOTORS_H
+
+void set_left_motor_speed(float speed);
+void set_right_motor_speed(float speed);
+void brake_left_motor(void);
+void brake_right_motor(void);
+void brake(void);
+void stop(void);
+void forward(float speed);
+void backward(float speed);
+void turn(float speed);
+
+// New time based functions (library v0.3)
+void time_based_forward(float speed, int microseconds, char brake);
+void time_based_turn(float speed, int microseconds, char brake);
+int time_based_turn_degrees(float speed, float degrees, char brake);
+float get_maximum_turn_angle(int microseconds);
+int get_time_based_turn_time(float speed, float degrees);
+void IF_check_time_for_existing_time_based_action();
+void IF_end_time_based_action();
+
+void IF_update_motors();
+float IF_calibrated_speed(float speed);
+void IF_init_motors(void);
+
+#endif
\ No newline at end of file