dmotor.h File Reference

Interface: direct motor control. More...

#include <config.h>
Include dependency graph for dmotor.h:

Go to the source code of this file.

Macros

#define MIN_SPEED   0
 minimum motor speed More...
 
#define MAX_SPEED   255
 maximum motor speed More...
 

Enumerations

enum  MotorDirection { off = 0, fwd = 1, rev = 2, brake = 3 }
 the motor directions More...
 

Functions

void motor_a_dir (MotorDirection dir)
 set motor A direction to dir More...
 
void motor_b_dir (MotorDirection dir)
 set motor B direction to dir More...
 
void motor_c_dir (MotorDirection dir)
 set motor C direction to dir More...
 
void motor_a_speed (unsigned char speed)
 set motor A speed More...
 
void motor_b_speed (unsigned char speed)
 set motor B speed More...
 
void motor_c_speed (unsigned char speed)
 set motor C speed More...
 

Variables

const unsigned char dm_a_pattern [4]
 motor drive patterns More...
 
const unsigned char dm_b_pattern [4]
 
const unsigned char dm_c_pattern [4]
 
MotorState dm_a
 motor A state More...
 
MotorState dm_b
 motor B state More...
 
MotorState dm_c
 motor C state More...
 

Detailed Description

Interface: direct motor control.

Author
Markus L. Noga marku.nosp@m.s@no.nosp@m.ga.de

Definition in file dmotor.h.

Macro Definition Documentation

#define MAX_SPEED   255

maximum motor speed

Definition at line 72 of file dmotor.h.

#define MIN_SPEED   0

minimum motor speed

Definition at line 71 of file dmotor.h.

Enumeration Type Documentation

the motor directions

Enumerator
off 

freewheel

fwd 

forward

rev 

reverse

brake 

hold current position

Definition at line 44 of file dmotor.h.

Function Documentation

void motor_a_dir ( MotorDirection  dir)

set motor A direction to dir

void motor_a_speed ( unsigned char  speed)
inline

set motor A speed

Parameters
speedthe speed

Definition at line 143 of file dmotor.h.

void motor_b_dir ( MotorDirection  dir)

set motor B direction to dir

void motor_b_speed ( unsigned char  speed)
inline

set motor B speed

Parameters
speedthe speed

Definition at line 151 of file dmotor.h.

void motor_c_dir ( MotorDirection  dir)

set motor C direction to dir

void motor_c_speed ( unsigned char  speed)
inline

set motor C speed

Parameters
speedthe speed

Definition at line 159 of file dmotor.h.

Variable Documentation

MotorState dm_a

motor A state

const unsigned char dm_a_pattern[4]

motor drive patterns

to be indexed with MotorDirections

See also
MotorDirections
MotorState dm_b

motor B state

const unsigned char dm_b_pattern[4]
MotorState dm_c

motor C state

const unsigned char dm_c_pattern[4]

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Original code copyright 1998-2005 by the authors.

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