abdrive library  v0.5.5
Differential servo and encoder drive library for the Parallax ActivityBot
abdrive.h
Go to the documentation of this file.
1 
54 #ifndef ABDRIVE_H
55 #define ABDRIVE_H
56 
57 #if defined(__cplusplus)
58 extern "C" {
59 #endif
60 
61 #include "simpletools.h"
62 #include "simpletext.h"
63 #include "fdserial.h"
64 
65 /*
66  #ifndef interactive_development_mode
67  #define interactive_development_mode
68  void display_control_sys(int start, int end);
69  #endif
70 */
71 
72 #ifndef _ActivityBot_EE_Start_
73 
77 #define _ActivityBot_EE_Start_ 63418
78 #endif
79 
80 #ifndef _ActivityBot_EE_Pins_
81 #define _ActivityBot_EE_Pins_ 12
82 #endif
83 
84 #ifndef _ActivityBot_EE_Trims_
85 #define _ActivityBot_EE_Trims_ 28
86 #endif
87 
88 #ifndef _ActivityBot_EE_Left_
89 #define _ActivityBot_EE_Left_ 52
90 #endif
91 
92 #ifndef _ActivityBot_EE_Right_
93 #define _ActivityBot_EE_Right_ 1052
94 #endif
95 
96 #ifndef _ActivityBot_EE_End_
97 
101 #define _ActivityBot_EE_End_ 63418 + 2052
102 #endif
103 
104 #ifndef AB_RIGHT
105 #define AB_RIGHT 1
106 #endif
107 
108 #ifndef AB_LEFT
109 #define AB_LEFT -1
110 #endif
111 
112 
113 #ifndef AB_FORWARD
114 #define AB_FORWARD 1
115 #endif
116 
117 #ifndef AB_BACKWARD
118 #define AB_BACKWARD -1
119 #endif
120 
121 #ifndef OFF
122 
126 #define OFF 0
127 #endif
128 
129 #ifndef ON
130 
134 #define ON 1
135 #endif
136 
137 
143 void drive_feedback(int enabled);
144 
145 
152 void drive_trim(int enabled);
153 
154 
175 void drive_trimSet(int direction, int side, int value);
176 
177 
184 void drive_trimDisplay(void);
185 
186 
194 void drive_displayInterpolation(void);
195 
196 
207 void drive_encoderPins(int encPinLeft, int encPinRight);
208 
209 
220 void drive_servoPins(int servoPinLeft, int servoPinRight);
221 
222 
231 void drive_speed(int left, int right);
232 
233 
244 void drive_ramp(int left, int right);
245 
246 
258 void drive_rampStep(int left, int right);
259 
266 void drive_setRampStep(int stepsize);
267 
268 
278 void drive_distance(int left, int right);
279 
280 
285 void drive_close(void);
286 
287 
288 
292 int drive_open();
293 
294 
304 void drive_setMaxSpeed(int speed);
305 
306 
318 void drive_goto(int distLeft, int distRight);
319 
320 
330 void drive_getTicks(int *left, int *right);
331 
332 
342 void drive_getTicksCalc(int *left, int *right);
343 
344 
356 void drive_getTicksCalc(int *left, int *right);
357 
358 
359 /*
360  void drive_getSpeedCalc(int *left, int *right);
361  void drive_getSpeedActual(int *left, int *right);
362 */
363 
364 #if defined(__cplusplus)
365 }
366 #endif
367 /* __cplusplus */
368 #endif
369 /* ABDRIVE_H */
370