root / trunk / code / lib / include / libdragonfly / motor.h @ 1461
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1 | 7 | bcoltin | /**
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2 | 241 | bcoltin | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | 7 | bcoltin | * @file motor.h
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29 | * @brief Contains definitions for controlling the motors
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30 | *
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31 | * Contains definitions and functions for controlling
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32 | * the motors.
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | * Based on Tom Lauwer's Firefly Library
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36 | **/
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37 | |||
38 | #ifndef _MOTOR_H
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39 | #define _MOTOR_H
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40 | |||
41 | 1461 | bneuman | #include <dragonfly_lib.h> |
42 | 7 | bcoltin | #include <avr/io.h> |
43 | /**
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44 | * @addtogroup motors
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45 | * @{
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46 | **/
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47 | |||
48 | /** @brief make the motors go forwards **/
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49 | #define FORWARD 1 |
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50 | /** @brief make the motors go backwards **/
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51 | #define BACKWARD 0 |
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52 | |||
53 | /** @brief Initialize the motors **/
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54 | 1461 | bneuman | int motors_init(void); |
55 | 1429 | dsschult | /** @brief Set speed and direction of motor1
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56 | * @deprecated use the left motor function instead. it's more intuitive and easier to read.**/
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57 | 1461 | bneuman | int motor1_set(int direction, int speed); |
58 | 1429 | dsschult | /** @brief Set speed and direction of motor2
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59 | * @deprecated use the right motor function instead. it's more intuitive and easier to read.**/
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60 | 1461 | bneuman | int motor2_set(int direction, int speed); |
61 | 1429 | dsschult | /** @brief Set speed and direction of left motor **/
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62 | 1461 | bneuman | int motor_l_set(int direction, int speed); |
63 | 1429 | dsschult | /** @brief Set speed and direction of right motor **/
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64 | 1461 | bneuman | int motor_r_set(int direction, int speed); |
65 | 7 | bcoltin | /** @brief Turn the motors off **/
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66 | 1461 | bneuman | int motors_off(void); |
67 | 7 | bcoltin | |
68 | /**@}**/ // end addtogroup |
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69 | |||
70 | #endif
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