abdrive library  v0.5.6
Differential servo and encoder drive library for the Parallax ActivityBot
abdrive.h
Go to the documentation of this file.
1 
67 #ifndef ABDRIVE_H
68 #define ABDRIVE_H
69 
70 #if defined(__cplusplus)
71 extern "C" {
72 #endif
73 
74 #include "simpletools.h"
75 #include "simpletext.h"
76 #include "fdserial.h"
77 
78 /*
79  #ifndef interactive_development_mode
80  #define interactive_development_mode
81  void display_control_sys(int start, int end);
82  #endif
83 */
84 
85 #ifndef _ActivityBot_EE_Start_
86 
90 #define _ActivityBot_EE_Start_ 63418
91 #endif
92 
93 #ifndef _ActivityBot_EE_Pins_
94 #define _ActivityBot_EE_Pins_ 12
95 #endif
96 
97 #ifndef _ActivityBot_EE_Trims_
98 #define _ActivityBot_EE_Trims_ 28
99 #endif
100 
101 #ifndef _ActivityBot_EE_Left_
102 #define _ActivityBot_EE_Left_ 52
103 #endif
104 
105 #ifndef _ActivityBot_EE_Right_
106 #define _ActivityBot_EE_Right_ 1052
107 #endif
108 
109 #ifndef _ActivityBot_EE_End_
110 
114 #define _ActivityBot_EE_End_ 63418 + 2052
115 #endif
116 
117 #ifndef AB_RIGHT
118 #define AB_RIGHT 1
119 #endif
120 
121 #ifndef AB_LEFT
122 #define AB_LEFT -1
123 #endif
124 
125 
126 #ifndef AB_FORWARD
127 #define AB_FORWARD 1
128 #endif
129 
130 #ifndef AB_BACKWARD
131 #define AB_BACKWARD -1
132 #endif
133 
134 #ifndef OFF
135 
139 #define OFF 0
140 #endif
141 
142 #ifndef ON
143 
147 #define ON 1
148 #endif
149 
150 
156 void drive_feedback(int enabled);
157 
158 
165 void drive_trim(int enabled);
166 
167 
188 void drive_trimSet(int direction, int side, int value);
189 
190 
197 void drive_trimDisplay(void);
198 
199 
207 void drive_displayInterpolation(void);
208 
209 
223 void drive_encoderPins(int encPinLeft, int encPinRight);
224 
225 
239 void drive_servoPins(int servoPinLeft, int servoPinRight);
240 
241 
250 void drive_speed(int left, int right);
251 
252 
263 void drive_ramp(int left, int right);
264 
265 
277 void drive_rampStep(int left, int right);
278 
285 void drive_setRampStep(int stepsize);
286 
287 
297 void drive_distance(int left, int right);
298 
299 
304 void drive_close(void);
305 
306 
307 
311 int drive_open();
312 
313 
323 void drive_setMaxSpeed(int speed);
324 
325 
337 void drive_goto(int distLeft, int distRight);
338 
339 
349 void drive_getTicks(int *left, int *right);
350 
351 
361 void drive_getTicksCalc(int *left, int *right);
362 
363 
375 void drive_getTicksCalc(int *left, int *right);
376 
377 
378 /*
379  void drive_getSpeedCalc(int *left, int *right);
380  void drive_getSpeedActual(int *left, int *right);
381 */
382 
383 #if defined(__cplusplus)
384 }
385 #endif
386 /* __cplusplus */
387 #endif
388 /* ABDRIVE_H */
389