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/**
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* Copyright (c) 2007 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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**/
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/**
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* @file motor.h
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* @brief Contains definitions for controlling the motors
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*
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* Contains definitions and functions for controlling
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* the motors.
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*
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* @author Colony Project, CMU Robotics Club
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* Based on Tom Lauwer's Firefly Library
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**/
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#ifndef _MOTOR_H
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#define _MOTOR_H
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/**
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* @defgroup motors Motors
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* @brief Functions for controlling the motors.
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* Functions for controlling the motors. Found in motor.h.
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* @{
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**/
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/** @brief make the motors go forwards **/
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#define FORWARD 1 |
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/** @brief make the motors go backwards **/
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#define BACKWARD 0 |
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/**
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* @brief Initialize the motors
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*
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* Initializes both motors so that they can be used with future
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* calls to motor1_set and motor2_set.
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*
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* @see motors_off, motor1_set, motor2_set
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**/
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void motors_init(void); |
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/**
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* @brief Set speed and direction of motor1
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*
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* Sets the speed and direction of motor1.
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* motors_init must be called before this function can be used.
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*
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* @param direction Either FORWARD or BACKWARD to set the direction of rotation.
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* @param speed The speed the motor will run at, in the range 0-255.
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*
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* @see motor2_set, motors_init
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**/
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void motor1_set(int direction, int speed); |
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/**
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* @brief Set speed and direction of motor2
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*
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* Sets the speed and direction of motor2.
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* motors_init must be called before this function can be used.
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*
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* @param direction Either FORWARD or BACKWARD to set the direction of rotation.
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* @param speed The speed the motor will run at, in the range 0-255.
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*
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* @see motor1_set, motors_init
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**/
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void motor2_set(int direction, int speed); |
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/**
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* @brief Turn the motors off
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*
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* Turns off both motors.
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*
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* @see motors_init
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**/
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void motors_off(void); |
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/**@}**/ // end addtogroup |
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#endif
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