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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file motor.h
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 * @brief Contains definitions for controlling the motors
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 *
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 * Contains definitions and functions for controlling
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 * the motors.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * Based on Tom Lauwer's Firefly Library
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 **/
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#ifndef _MOTOR_H
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#define _MOTOR_H
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#include <avr/io.h>
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/**
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 * @addtogroup motors
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 * @{
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 **/
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/** @brief make the motors go forwards **/
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#define FORWARD 1
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/** @brief make the motors go backwards **/
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#define BACKWARD 0
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/** @brief Initialize the motors **/
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void motors_init(void);
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/** @brief Set speed and direction of motor1 
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 *  @deprecated use the left motor function instead. it's more intuitive and easier to read.**/
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void motor1_set(int direction, int speed);
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/** @brief Set speed and direction of motor2 
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 *  @deprecated use the right motor function instead. it's more intuitive and easier to read.**/
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void motor2_set(int direction, int speed);
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/** @brief Set speed and direction of left motor **/
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void motor_l_set(int direction, int speed);
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/** @brief Set speed and direction of right motor **/
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void motor_r_set(int direction, int speed);
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/** @brief Turn the motors off **/
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void motors_off(void);
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/**@}**/ // end addtogroup
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#endif
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