Psi Swarm robot library version 0.9
Fork of PsiSwarmV8_CPP by
motors.h@5:3cdd1a37cdd7, 2016-10-15 (annotated)
- Committer:
- jah128
- Date:
- Sat Oct 15 13:29:37 2016 +0000
- Revision:
- 5:3cdd1a37cdd7
- Parent:
- 4:1c621cb8cf0d
- Child:
- 6:b340a527add9
Initial commit of API Version 7 (fork from version 5)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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jah128 | 0:d6269d17c8cf | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Motor Functions Header File |
jah128 | 0:d6269d17c8cf | 2 | * |
jah128 | 0:d6269d17c8cf | 3 | * File: motors.h |
jah128 | 0:d6269d17c8cf | 4 | * |
jah128 | 0:d6269d17c8cf | 5 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 6 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 7 | * |
jah128 | 5:3cdd1a37cdd7 | 8 | * PsiSwarm Library Version: 0.7 |
jah128 | 0:d6269d17c8cf | 9 | * |
jah128 | 5:3cdd1a37cdd7 | 10 | * October 2016 |
jah128 | 0:d6269d17c8cf | 11 | * |
jah128 | 0:d6269d17c8cf | 12 | * |
jah128 | 0:d6269d17c8cf | 13 | */ |
jah128 | 0:d6269d17c8cf | 14 | |
jah128 | 0:d6269d17c8cf | 15 | #ifndef MOTORS_H |
jah128 | 0:d6269d17c8cf | 16 | #define MOTORS_H |
jah128 | 0:d6269d17c8cf | 17 | |
jah128 | 0:d6269d17c8cf | 18 | void set_left_motor_speed(float speed); |
jah128 | 0:d6269d17c8cf | 19 | void set_right_motor_speed(float speed); |
jah128 | 0:d6269d17c8cf | 20 | void brake_left_motor(void); |
jah128 | 0:d6269d17c8cf | 21 | void brake_right_motor(void); |
jah128 | 0:d6269d17c8cf | 22 | void brake(void); |
jah128 | 0:d6269d17c8cf | 23 | void stop(void); |
jah128 | 0:d6269d17c8cf | 24 | void forward(float speed); |
jah128 | 0:d6269d17c8cf | 25 | void backward(float speed); |
jah128 | 0:d6269d17c8cf | 26 | void turn(float speed); |
jah128 | 0:d6269d17c8cf | 27 | |
jah128 | 0:d6269d17c8cf | 28 | // New time based functions (library v0.3) |
jah128 | 0:d6269d17c8cf | 29 | void time_based_forward(float speed, int microseconds, char brake); |
jah128 | 0:d6269d17c8cf | 30 | void time_based_turn(float speed, int microseconds, char brake); |
jah128 | 0:d6269d17c8cf | 31 | int time_based_turn_degrees(float speed, float degrees, char brake); |
jah128 | 0:d6269d17c8cf | 32 | float get_maximum_turn_angle(int microseconds); |
jah128 | 0:d6269d17c8cf | 33 | int get_time_based_turn_time(float speed, float degrees); |
jah128 | 0:d6269d17c8cf | 34 | void IF_check_time_for_existing_time_based_action(); |
jah128 | 0:d6269d17c8cf | 35 | void IF_end_time_based_action(); |
jah128 | 0:d6269d17c8cf | 36 | |
jah128 | 0:d6269d17c8cf | 37 | void IF_update_motors(); |
jah128 | 4:1c621cb8cf0d | 38 | float IF_calibrated_left_speed(float speed); |
jah128 | 4:1c621cb8cf0d | 39 | float IF_calibrated_right_speed(float speed); |
jah128 | 0:d6269d17c8cf | 40 | float IF_calibrated_speed(float speed); |
jah128 | 0:d6269d17c8cf | 41 | void IF_init_motors(void); |
jah128 | 0:d6269d17c8cf | 42 | |
jah128 | 0:d6269d17c8cf | 43 | #endif |