/*
 * servos_and_motors.h
 *
 *  Created on: 10 Jun 2013
 *      Author: Remi KEAT
 */

/**
 * \file    servos_and_motors.h
 * \brief   Header file for the servos and motors functions
 * \author  Remi KEAT
 */

#ifndef SERVOS_AND_MOTORS_H_
#define SERVOS_AND_MOTORS_H_

#include "serial.h"
#include "types.h"

int SERVOSet (SERVOHandle handle, int angle);
int SERVORange(int servo, int low, int high); // Set servo [1..14] limits in 1/110 sec
int MOTORDrive (MOTORHandle handle, int speed);
int MOTORPID(int motor, int p, int i, int d); // Set motor [1..4] PID controller values [1..255]
int MOTORPIDoff(int motor);                   // Stop PID control loop
int MOTORSpeed(int motor, int ticks);         // Set controlled motor speed in ticks/100 sec
int ENCODERRead(int quad);                    // Read quadrature encoder [1..4]
int ENCODERReset(int quad);                   // Set encoder value to 0 [1..4]

#endif /* SERVOS_AND_MOTORS_H_ */