Fabio Faria / Mbed 2 deprecated DEEC_STM32_for_Romi

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Dependencies:   mbed

Robot.h@2:eb9ed5a05c71, 2019-02-21 (annotated)

Committer:
fabiofaria
Date:
Thu Feb 21 00:41:43 2019 +0000
Revision:
2:eb9ed5a05c71
Parent:
1:1e85a02fe11a 
Fixed doxygen documentation generation.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabiofaria 2:eb9ed5a05c71 1 /** @file */
fabiofaria 1:1e85a02fe11a 2 #ifndef ROBOT_H_
fabiofaria 1:1e85a02fe11a 3 #define ROBOT_H_
fabiofaria 1:1e85a02fe11a 4
fabiofaria 1:1e85a02fe11a 5 #include "mbed.h"
fabiofaria 1:1e85a02fe11a 6
fabiofaria 1:1e85a02fe11a 7 extern int16_t countsLeft;
fabiofaria 1:1e85a02fe11a 8 extern int16_t countsRight;
fabiofaria 1:1e85a02fe11a 9
fabiofaria 1:1e85a02fe11a 10 /** \brief Sets the speed for both motors.
fabiofaria 1:1e85a02fe11a 11 *
fabiofaria 1:1e85a02fe11a 12 * \param leftSpeed A number from -300 to 300 representing the speed and
fabiofaria 1:1e85a02fe11a 13 * direction of the left motor. Values of -300 or less result in full speed
fabiofaria 1:1e85a02fe11a 14 * reverse, and values of 300 or more result in full speed forward.
fabiofaria 1:1e85a02fe11a 15 * \param rightSpeed A number from -300 to 300 representing the speed and
fabiofaria 1:1e85a02fe11a 16 * direction of the right motor. Values of -300 or less result in full speed
fabiofaria 1:1e85a02fe11a 17 * reverse, and values of 300 or more result in full speed forward. */
fabiofaria 1:1e85a02fe11a 18 void setSpeeds(int16_t leftSpeed, int16_t rightSpeed);
fabiofaria 1:1e85a02fe11a 19
fabiofaria 1:1e85a02fe11a 20 /** \brief Sets the speed for the left motor.
fabiofaria 1:1e85a02fe11a 21 *
fabiofaria 1:1e85a02fe11a 22 * \param speed A number from -300 to 300 representing the speed and
fabiofaria 1:1e85a02fe11a 23 * direction of the left motor. Values of -300 or less result in full speed
fabiofaria 1:1e85a02fe11a 24 * reverse, and values of 300 or more result in full speed forward. */
fabiofaria 1:1e85a02fe11a 25 void setLeftSpeed(int16_t speed);
fabiofaria 1:1e85a02fe11a 26
fabiofaria 1:1e85a02fe11a 27 /** \brief Sets the speed for the right motor.
fabiofaria 1:1e85a02fe11a 28 *
fabiofaria 1:1e85a02fe11a 29 * \param speed A number from -300 to 300 representing the speed and
fabiofaria 1:1e85a02fe11a 30 * direction of the right motor. Values of -300 or less result in full speed
fabiofaria 1:1e85a02fe11a 31 * reverse, and values of 300 or more result in full speed forward. */
fabiofaria 1:1e85a02fe11a 32 void setRightSpeed(int16_t speed);
fabiofaria 1:1e85a02fe11a 33
fabiofaria 1:1e85a02fe11a 34 /*! Returns the number of counts that have been detected from the both
fabiofaria 1:1e85a02fe11a 35 * encoders. These counts start at 0. Positive counts correspond to forward
fabiofaria 1:1e85a02fe11a 36 * movement of the wheel of the Romi, while negative counts correspond
fabiofaria 1:1e85a02fe11a 37 * to backwards movement.
fabiofaria 1:1e85a02fe11a 38 *
fabiofaria 1:1e85a02fe11a 39 * The count is returned as a signed 16-bit integer. When the count goes
fabiofaria 1:1e85a02fe11a 40 * over 32767, it will overflow down to -32768. When the count goes below
fabiofaria 1:1e85a02fe11a 41 * -32768, it will overflow up to 32767. */
fabiofaria 1:1e85a02fe11a 42 void getCounts();
fabiofaria 1:1e85a02fe11a 43
fabiofaria 1:1e85a02fe11a 44 /*! This function is just like getCounts() except it also clears the
fabiofaria 1:1e85a02fe11a 45 * counts before returning. If you call this frequently enough, you will
fabiofaria 1:1e85a02fe11a 46 * not have to worry about the count overflowing. */
fabiofaria 1:1e85a02fe11a 47 void getCountsAndReset();
fabiofaria 1:1e85a02fe11a 48
fabiofaria 1:1e85a02fe11a 49 #endif /* ROBOT_H_ */