include

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.

Defines

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

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

Variables

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

Detailed Description

Interface: direct motor control.

Author:
Markus L. Noga <markus@noga.de>

Definition in file dmotor.h.

Define 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

enum MotorDirection

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:
speed the speed

Definition at line 138 of file dmotor.h.

References dm_a.

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:
speed the speed

Definition at line 146 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:
speed the speed

Definition at line 154 of file dmotor.h.

Variable Documentation

MotorState dm_a

motor A state

Referenced by motor_a_speed().

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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