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

/**

 * @defgroup motors Motors

 * @brief Functions for controlling the motors.

 * Functions for controlling the motors. Found in motor.h.

 * @{

 **/

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

#define FORWARD 1

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

#define BACKWARD 0

/**

 * @brief Initialize the motors

 *

 * Initializes both motors so that they can be used with future

 * calls to motor1_set and motor2_set.

 *

 * @see motors_off, motor1_set, motor2_set

 **/

void motors_init(void);

/**

 * @brief Set speed and direction of motor1

 *

 * Sets the speed and direction of motor1.

 * motors_init must be called before this function can be used.

 *

 * @param direction Either FORWARD or BACKWARD to set the direction of rotation.

 * @param speed The speed the motor will run at, in the range 0-255.

 * 

 * @see motor2_set, motors_init

 **/

void motor1_set(int direction, int speed);

/**

 * @brief Set speed and direction of motor2

 *

 * Sets the speed and direction of motor2.

 * motors_init must be called before this function can be used.

 *

 * @param direction Either FORWARD or BACKWARD to set the direction of rotation.

 * @param speed The speed the motor will run at, in the range 0-255.

 *

 * @see motor1_set, motors_init

 **/

void motor2_set(int direction, int speed);

/**

 * @brief Turn the motors off

 *

 * Turns off both motors.

 *

 * @see motors_init

 **/

void motors_off(void);

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

#endif