root / scout / libscout / src / libmotors.h @ 4589a2a9
History | View | Annotate | Download (2.27 KB)
1 | c406f16b | Ben | /**
|
---|---|---|---|
2 | 0121ead7 | bwasserm | * Copyright (c) 2011 Colony Project
|
3 | c406f16b | Ben | *
|
4 | * Permission is hereby granted, free of charge, to any person
|
||
5 | * obtaining a copy of this software and associated documentation
|
||
6 | * files (the "Software"), to deal in the Software without
|
||
7 | * restriction, including without limitation the rights to use,
|
||
8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
9 | * copies of the Software, and to permit persons to whom the
|
||
10 | * Software is furnished to do so, subject to the following
|
||
11 | * conditions:
|
||
12 | *
|
||
13 | * The above copyright notice and this permission notice shall be
|
||
14 | * included in all copies or substantial portions of the Software.
|
||
15 | *
|
||
16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
23 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
24 | **/
|
||
25 | |||
26 | |||
27 | /**
|
||
28 | * @file libmotors.h
|
||
29 | * @brief Contains motor declarations and functions
|
||
30 | *
|
||
31 | * Contains functions and definitions for the use of
|
||
32 | * motors
|
||
33 | *
|
||
34 | * @author Colony Project, CMU Robotics Club
|
||
35 | **/
|
||
36 | |||
37 | #include "ros/ros.h" |
||
38 | #include "constants.h" |
||
39 | #include "motors/query_motors.h" |
||
40 | #include "motors/set_motors.h" |
||
41 | |||
42 | #ifndef _LIBMOTORS_H_
|
||
43 | #define _LIBMOTORS_H_
|
||
44 | |||
45 | /* Defines */
|
||
46 | 0121ead7 | bwasserm | #define MOTOR_ALL 0xF |
47 | #define MOTOR_ALL_REV 0xF0 |
||
48 | #define MOTOR_NONE 0x0 |
||
49 | #define MOTOR_FL 0x8 |
||
50 | #define MOTOR_FR 0x4 |
||
51 | #define MOTOR_BL 0x2 |
||
52 | #define MOTOR_BR 0x1 |
||
53 | #define MOTOR_FL_REV 0x80 |
||
54 | #define MOTOR_FR_REV 0x40 |
||
55 | #define MOTOR_BL_REV 0x20 |
||
56 | #define MOTOR_BR_REV 0x10 |
||
57 | #define MOTOR_FRONT MOTOR_FL | MOTOR_FR
|
||
58 | #define MOTOR_BACK MOTOR_BR | MOTOR_BR
|
||
59 | #define MOTOR_LEFT MOTOR_FL | MOTOR_BL
|
||
60 | #define MOTOR_RIGHT MOTOR_FR | MOTOR_BR
|
||
61 | #define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV
|
||
62 | #define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV
|
||
63 | #define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT
|
||
64 | #define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV
|
||
65 | #define MOTOR_PERCENT 'p' |
||
66 | #define MOTOR_MMS 'm' |
||
67 | #define MOTOR_CMS 'c' |
||
68 | c9f87aaf | bwasserm | #define MOTOR_ABSOLUTE 'a' |
69 | c406f16b | Ben | |
70 | void libmotors_init();
|
||
71 | int motors_set(int speed, int which); |
||
72 | int motors_query(int which); |
||
73 | |||
74 | #endif
|