Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file motor.h

 * @brief Contains definitions for controlling the motors

 *

 * Contains definitions and functions for controlling

 * the motors.

 *

 * @author Colony Project, CMU Robotics Club

 * Based on Tom Lauwer's Firefly Library

 **/

#ifndef _MOTOR_H

#define _MOTOR_H

#include <dragonfly_lib.h>

#include <avr/io.h>

/**

 * @addtogroup motors

 * @{

 **/

/** @brief make the motors go forwards **/

#define FORWARD 1

/** @brief make the motors go backwards **/

#define BACKWARD 0

/** @brief Initialize the motors **/

int motors_init(void);

/** @brief Set speed and direction of motor1 

 *  @deprecated use the left motor function instead. it's more intuitive and easier to read.**/

int motor1_set(int direction, int speed);

/** @brief Set speed and direction of motor2 

 *  @deprecated use the right motor function instead. it's more intuitive and easier to read.**/

int motor2_set(int direction, int speed);

/** @brief Set speed and direction of left motor **/

int motor_l_set(int direction, int speed);

/** @brief Set speed and direction of right motor **/

int motor_r_set(int direction, int speed);

/** @brief Turn the motors off **/

int motors_off(void);

/**@}**/ // end addtogroup

#endif