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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<title>Colony: Motors</title>
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<h1>Motors</h1>Functions for controlling the motors. Functions for controlling the motors. Found in <a class="el" href="motor_8h.html" title="Contains definitions for controlling the motors.">motor.h</a>.  
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<a href="#_details">More...</a>
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<p>
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<table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g6ddfdda7a062d10cff4a72b76b44aeb8"></a><!-- doxytag: member="motors::FORWARD" ref="g6ddfdda7a062d10cff4a72b76b44aeb8" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__motors.html#g6ddfdda7a062d10cff4a72b76b44aeb8">FORWARD</a>&nbsp;&nbsp;&nbsp;1</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">make the motors go forwards <br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gdf445abfe1b77fa63f89e315ccc2f7f2"></a><!-- doxytag: member="motors::BACKWARD" ref="gdf445abfe1b77fa63f89e315ccc2f7f2" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__motors.html#gdf445abfe1b77fa63f89e315ccc2f7f2">BACKWARD</a>&nbsp;&nbsp;&nbsp;0</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">make the motors go backwards <br></td></tr>
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__motors.html#gea7444d04318aa45160930076e001171">motors_init</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize the motors.  <a href="#gea7444d04318aa45160930076e001171"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__motors.html#gfe038834955f829de5c86c6a917c300e">motor_l_set</a> (int direction, int speed)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set speed and direction of left motor.  <a href="#gfe038834955f829de5c86c6a917c300e"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__motors.html#g254142b132fadd958176eb5d05399741">motor_r_set</a> (int direction, int speed)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set speed and direction of right motor.  <a href="#g254142b132fadd958176eb5d05399741"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__motors.html#g7ffe2df820859a9d0d01ce248b63764d">motor1_set</a> (int direction, int speed)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set speed and direction of motor1.  <a href="#g7ffe2df820859a9d0d01ce248b63764d"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__motors.html#g37c26949f041012fbee44c97be505ab5">motor2_set</a> (int direction, int speed)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set speed and direction of motor2.  <a href="#g37c26949f041012fbee44c97be505ab5"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__motors.html#gd80ca701deea57fea1a1f38e8a71f7c6">motors_off</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Turn the motors off.  <a href="#gd80ca701deea57fea1a1f38e8a71f7c6"></a><br></td></tr>
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<tr><td colspan="2"><br><h2>Variables</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g8f87e0e7ef1efe7788edf8133862dbf5"></a><!-- doxytag: member="motors::motors_initd" ref="g8f87e0e7ef1efe7788edf8133862dbf5" args="" -->
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unsigned char&nbsp;</td><td class="memItemRight" valign="bottom"><b>motors_initd</b> = 0</td></tr>
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<hr><a name="_details"></a><h2>Detailed Description</h2>
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Functions for controlling the motors. Functions for controlling the motors. Found in <a class="el" href="motor_8h.html" title="Contains definitions for controlling the motors.">motor.h</a>. <hr><h2>Function Documentation</h2>
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<a class="anchor" name="g7ffe2df820859a9d0d01ce248b63764d"></a><!-- doxytag: member="motor.c::motor1_set" ref="g7ffe2df820859a9d0d01ce248b63764d" args="(int direction, int speed)" -->
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          <td class="memname">int motor1_set           </td>
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          <td class="paramname"> <em>direction</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&nbsp;</td>
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          <td class="paramname"> <em>speed</em></td><td>&nbsp;</td>
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Set speed and direction of motor1. 
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Sets the speed and direction of motor1. motors_init must be called before this function can be used.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>direction</em>&nbsp;</td><td>Either FORWARD or BACKWARD to set the direction of rotation. </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>speed</em>&nbsp;</td><td>The speed the motor will run at, in the range 0-255.</td></tr>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__motors.html#g37c26949f041012fbee44c97be505ab5" title="Set speed and direction of motor2.">motor2_set</a>, <a class="el" href="group__motors.html#gea7444d04318aa45160930076e001171" title="Initialize the motors.">motors_init</a></dd></dl>
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<dl compact><dt><b><a class="el" href="deprecated.html#_deprecated000003">Deprecated:</a></b></dt><dd>use the left motor function instead. it's more intuitive and easier to read. </dd></dl>
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<a class="anchor" name="g37c26949f041012fbee44c97be505ab5"></a><!-- doxytag: member="motor.c::motor2_set" ref="g37c26949f041012fbee44c97be505ab5" args="(int direction, int speed)" -->
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          <td class="memname">int motor2_set           </td>
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Set speed and direction of motor2. 
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Sets the speed and direction of motor2. motors_init must be called before this function can be used.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>direction</em>&nbsp;</td><td>Either FORWARD or BACKWARD to set the direction of rotation. </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>speed</em>&nbsp;</td><td>The speed the motor will run at, in the range 0-255.</td></tr>
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  </table>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__motors.html#g37c26949f041012fbee44c97be505ab5" title="Set speed and direction of motor2.">motor2_set</a>, <a class="el" href="group__motors.html#gea7444d04318aa45160930076e001171" title="Initialize the motors.">motors_init</a></dd></dl>
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<dl compact><dt><b><a class="el" href="deprecated.html#_deprecated000004">Deprecated:</a></b></dt><dd>use the right motor function instead. it's more intuitive and easier to read. </dd></dl>
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<a class="anchor" name="gfe038834955f829de5c86c6a917c300e"></a><!-- doxytag: member="motor.c::motor_l_set" ref="gfe038834955f829de5c86c6a917c300e" args="(int direction, int speed)" -->
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          <td class="memname">int motor_l_set           </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&nbsp;</td>
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          <td class="paramname"> <em>speed</em></td><td>&nbsp;</td>
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Set speed and direction of left motor. 
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Sets the speed and direction of the left motor. motors_init must be called before this function can be used.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>direction</em>&nbsp;</td><td>Either FORWARD or BACKWARD to set the direction of rotation. </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>speed</em>&nbsp;</td><td>The speed the motor will run at, in the range 0-255.</td></tr>
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</dl>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__motors.html#g254142b132fadd958176eb5d05399741" title="Set speed and direction of right motor.">motor_r_set</a>, <a class="el" href="group__motors.html#gea7444d04318aa45160930076e001171" title="Initialize the motors.">motors_init</a> </dd></dl>
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<a class="anchor" name="g254142b132fadd958176eb5d05399741"></a><!-- doxytag: member="motor.c::motor_r_set" ref="g254142b132fadd958176eb5d05399741" args="(int direction, int speed)" -->
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          <td class="memname">int motor_r_set           </td>
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Set speed and direction of right motor. 
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Sets the speed and direction of the right motor. motors_init must be called before this function can be used.<p>
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<dl compact><dt><b>Parameters:</b></dt><dd>
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  <table border="0" cellspacing="2" cellpadding="0">
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    <tr><td valign="top"></td><td valign="top"><em>direction</em>&nbsp;</td><td>Either FORWARD or BACKWARD to set the direction of rotation. </td></tr>
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    <tr><td valign="top"></td><td valign="top"><em>speed</em>&nbsp;</td><td>The speed the motor will run at, in the range 0-255.</td></tr>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__motors.html#gfe038834955f829de5c86c6a917c300e" title="Set speed and direction of left motor.">motor_l_set</a>, <a class="el" href="group__motors.html#gea7444d04318aa45160930076e001171" title="Initialize the motors.">motors_init</a> </dd></dl>
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<a class="anchor" name="gea7444d04318aa45160930076e001171"></a><!-- doxytag: member="motor.c::motors_init" ref="gea7444d04318aa45160930076e001171" args="(void)" -->
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          <td class="memname">int motors_init           </td>
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Initialize the motors. 
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Initializes both motors so that they can be used with future calls to motor1_set and motor2_set.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__motors.html#gd80ca701deea57fea1a1f38e8a71f7c6" title="Turn the motors off.">motors_off</a>, <a class="el" href="group__motors.html#g7ffe2df820859a9d0d01ce248b63764d" title="Set speed and direction of motor1.">motor1_set</a>, <a class="el" href="group__motors.html#g37c26949f041012fbee44c97be505ab5" title="Set speed and direction of motor2.">motor2_set</a> </dd></dl>
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<a class="anchor" name="gd80ca701deea57fea1a1f38e8a71f7c6"></a><!-- doxytag: member="motor.c::motors_off" ref="gd80ca701deea57fea1a1f38e8a71f7c6" args="(void)" -->
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Turn the motors off. 
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Turns off both motors.<p>
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<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 if init succesfull, an error code otherwise</dd></dl>
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<dl class="see" compact><dt><b>See also:</b></dt><dd><a class="el" href="group__motors.html#gea7444d04318aa45160930076e001171" title="Initialize the motors.">motors_init</a> </dd></dl>
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<hr size="1"><address style="text-align: right;"><small>Generated on Fri Nov 20 21:51:59 2009 for Colony by&nbsp;
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