abdrive library
v0.5.5
Differential servo and encoder drive library for the Parallax ActivityBot
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abdrive.h
Go to the documentation of this file.
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#ifndef ABDRIVE_H
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#define ABDRIVE_H
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#if defined(__cplusplus)
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extern
"C"
{
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#endif
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#include "simpletools.h"
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#include "simpletext.h"
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#include "fdserial.h"
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/*
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#ifndef interactive_development_mode
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#define interactive_development_mode
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void display_control_sys(int start, int end);
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#endif
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*/
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#ifndef _ActivityBot_EE_Start_
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#define _ActivityBot_EE_Start_ 63418
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#endif
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#ifndef _ActivityBot_EE_Pins_
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#define _ActivityBot_EE_Pins_ 12
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#endif
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#ifndef _ActivityBot_EE_Trims_
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#define _ActivityBot_EE_Trims_ 28
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#endif
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#ifndef _ActivityBot_EE_Left_
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#define _ActivityBot_EE_Left_ 52
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#endif
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#ifndef _ActivityBot_EE_Right_
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#define _ActivityBot_EE_Right_ 1052
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#endif
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#ifndef _ActivityBot_EE_End_
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#define _ActivityBot_EE_End_ 63418 + 2052
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#endif
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#ifndef AB_RIGHT
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#define AB_RIGHT 1
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#endif
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#ifndef AB_LEFT
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#define AB_LEFT -1
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#endif
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#ifndef AB_FORWARD
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#define AB_FORWARD 1
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#endif
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#ifndef AB_BACKWARD
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#define AB_BACKWARD -1
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#endif
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#ifndef OFF
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#define OFF 0
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#endif
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#ifndef ON
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#define ON 1
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#endif
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void
drive_feedback(
int
enabled);
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void
drive_trim(
int
enabled);
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void
drive_trimSet(
int
direction,
int
side,
int
value);
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void
drive_trimDisplay(
void
);
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void
drive_displayInterpolation(
void
);
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void
drive_encoderPins(
int
encPinLeft,
int
encPinRight);
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void
drive_servoPins(
int
servoPinLeft,
int
servoPinRight);
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void
drive_speed(
int
left,
int
right);
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void
drive_ramp(
int
left,
int
right);
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void
drive_rampStep(
int
left,
int
right);
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void
drive_setRampStep(
int
stepsize);
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void
drive_distance
(
int
left,
int
right);
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void
drive_close(
void
);
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int
drive_open();
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void
drive_setMaxSpeed(
int
speed);
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void
drive_goto(
int
distLeft,
int
distRight);
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void
drive_getTicks(
int
*left,
int
*right);
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void
drive_getTicksCalc
(
int
*left,
int
*right);
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void
drive_getTicksCalc
(
int
*left,
int
*right);
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/*
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void drive_getSpeedCalc(int *left, int *right);
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void drive_getSpeedActual(int *left, int *right);
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*/
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#if defined(__cplusplus)
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}
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#endif
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/* __cplusplus */
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#endif
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/* ABDRIVE_H */
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