Library for the PsiSwarm Robot - Version 0.4
motors.h
- Committer:
- jah128
- Date:
- 2016-02-04
- Revision:
- 0:d6269d17c8cf
- Child:
- 2:c6986ee3c7c5
File content as of revision 0:d6269d17c8cf:
/* 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