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Revision 2814387f

ID2814387f48599dab8a99852093cc51629a14fb89

Added by Alex Zirbel over 12 years ago

Updated motors code.

Changed the definitions for the set_motors message, which forced a few
implementation changes as well.

Changed "libscout_node" to "node" and "n" to "node" in other packages.

View differences:

scout/libscout/src/libmotors.h
62 62 
#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV
63 63 
#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT
64 64 
#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV
65 

  		




  65
  66
  
    
#define MOTOR_PERCENT 'p'


  		




  66
  67
  
    
#define MOTOR_MMS 'm'


  		




  67
  68
  
    
#define MOTOR_CMS 'c'


  		




  68
  69
  
    
#define MOTOR_ABSOLUTE 'a'


  		




  
  70
  
    
#define MOTOR_DEFAULT_UNIT MOTOR_PERCENT


  		




  69
  71
  
    

  		




  70
  72
  
    
void libmotors_init();


  		




  71
  
  
    
int motors_set(int speed, int which);


  		




  72
  
  
    
int motors_query(int which);


  		




  
  73
  
    
int motors_set(int which, float speed, char units=MOTOR_DEFAULT_UNIT);


  		




  
  74
  
    
int motors_set_sides(float speed_l, float speed_r,


  		




  
  75
  
    
                     char units=MOTOR_DEFAULT_UNIT);


  		




  
  76
  
    
int motors_set_each(int which,


  		




  
  77
  
    
                    float speed_fl, float speed_fr,


  		




  
  78
  
    
                    float speed_bl, float speed_br,


  		




  
  79
  
    
                    char units=MOTOR_DEFAULT_UNIT);


  		




  
  80
  
    
void check_which_ok(int which);


  		




  
  81
  
    
float motors_query(int which);


  		




  73
  82
  
    

  		




  74
  83
  
    
#endif


  		




  75
  84
  
    

  		












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