Revision 1429
updated library binaries and included header files
| trunk/code/lib/include/libdragonfly/motor.h | ||
|---|---|---|
| 51 | 51 |
|
| 52 | 52 |
/** @brief Initialize the motors **/ |
| 53 | 53 |
void motors_init(void); |
| 54 |
/** @brief Set speed and direction of motor1 **/ |
|
| 54 |
/** @brief Set speed and direction of motor1 |
|
| 55 |
* @deprecated use the left motor function instead. it's more intuitive and easier to read.**/ |
|
| 55 | 56 |
void motor1_set(int direction, int speed); |
| 56 |
/** @brief Set speed and direction of motor2 **/ |
|
| 57 |
/** @brief Set speed and direction of motor2 |
|
| 58 |
* @deprecated use the right motor function instead. it's more intuitive and easier to read.**/ |
|
| 57 | 59 |
void motor2_set(int direction, int speed); |
| 60 |
/** @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 **/ |
|
| 63 |
void motor_r_set(int direction, int speed); |
|
| 58 | 64 |
/** @brief Turn the motors off **/ |
| 59 | 65 |
void motors_off(void); |
| 60 | 66 |
|
| trunk/code/lib/include/libdragonfly/encoders.h | ||
|---|---|---|
| 28 | 28 |
#define RIGHT 1 |
| 29 | 29 |
#endif |
| 30 | 30 |
|
| 31 |
/** @brief Max value of valid encoder reading. **/ |
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#define ENCODER_MAX 1024 |
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| 33 |
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| 31 | 34 |
/** @brief Magnet misaligned - likely distance from encoder problem. **/ |
| 32 | 35 |
#define ENCODER_MAGNET_FAILURE 1025 |
| 33 | 36 |
/** @brief Encoder misaligned - likely on XY plane. **/ |
| ... | ... | |
| 49 | 52 |
#define MagDECn _BV(0) |
| 50 | 53 |
|
| 51 | 54 |
/** @brief Buffer size **/ |
| 52 |
#define BUFFER_SIZE 23
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|
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#define BUFFER_SIZE 46
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|
| 53 | 56 |
|
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#define ERR_VEL 1024 |
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| 58 |
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|
| 54 | 59 |
/** @brief Initialize encoders. **/ |
| 55 | 60 |
void encoders_init(void); |
| 56 | 61 |
/** @brief Read instantaneous encoder value. **/ |
| 57 | 62 |
int encoder_read(char encoder); |
| 58 | 63 |
|
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/** @brief Get total distance traveled. |
|
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* @note Simply calls encoder_get_dx. |
|
| 66 |
**/ |
|
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int encoder_get_x(char encoder); |
|
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|
|
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/** @brief Get instantaneous velocity. **/ |
|
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int encoder_get_v(char encoder); |
|
| 71 |
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|
| 59 | 72 |
/** @brief Get total distance traveled. **/ |
| 60 | 73 |
int encoder_get_dx(char encoder); |
| 61 | 74 |
/** @brief Reset distance counter. **/ |
| trunk/code/lib/include/libdragonfly/dragonfly_lib.h | ||
|---|---|---|
| 64 | 64 |
#define RANGE 0x0100 |
| 65 | 65 |
/** @brief Initialize the BOM **/ |
| 66 | 66 |
#define BOM 0x0200 |
| 67 |
/** @brief Initilize encoders **/ |
|
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#define ENCODERS 0x400 |
|
| 67 | 69 |
/** @brief Initialize everything **/ |
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#define ALL_ON 0x03FF
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|
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#define ALL_ON 0x07FF
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|
| 69 | 71 |
|
| 70 | 72 |
/** @brief Initialize the board **/ |
| 71 | 73 |
void dragonfly_init(int config); |
| ... | ... | |
| 94 | 96 |
#include <buzzer.h> |
| 95 | 97 |
#include <rangefinder.h> |
| 96 | 98 |
#include <bom.h> |
| 99 |
#include <encoders.h> |
|
| 97 | 100 |
#include <move.h> |
| 98 | 101 |
#include <reset.h> |
| 99 | 102 |
#include <math.h> |
| trunk/code/lib/include/libdragonfly/bom.h | ||
|---|---|---|
| 71 | 71 |
/** @brief Enables the selected bom leds on a BOM1.5 **/ |
| 72 | 72 |
void bom_set_leds(int bit_field); |
| 73 | 73 |
|
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/** @brief (DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element. **/ |
|
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/** @brief (DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element since last refresh. **/
|
|
| 75 | 75 |
int get_max_bom(void); |
| 76 | 76 |
|
| 77 | 77 |
/** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/ |
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