servos_and_motors.h File Reference

Header file for the servos and motors functions. More...

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

Go to the source code of this file.

Macros
#define	SERVO_LOW   0
#define	SERVO_HIGH   255

Functions
int	MOTORInit ()
	Initialises the IO board and sets up tables for motors. More...
int	SERVOInit ()
	Initialises the IO board and sets up tables for servos. More...
int	SERVORange (int servo, int low, int high)
	Sets the range for the servos. More...
int	SERVOSet (int servo, int angle)
	Set the given servos to the same given angle depending on table value. More...
int	SERVOSetRaw (int servo, int angle)
	Set the given servos to the same given angle in raw mode. More...
int	MOTORDrive (int motor, int speed)
	Set the given motors to the same given speed dependant on hdt table. More...
int	MOTORDriveRaw (int motor, int speed)
	Set the given motor to a given speed. More...
int	MOTORPID (int motor, int p, int i, int d)
	Set the given motors with PID control. More...
int	MOTORPIDoff (int motor)
	Shuts off PID control. More...
int	MOTORSpeed (int motor, int ticks)
	Sets the controlled motor speed in ticks/sec. More...
int	ENCODERRead (int quad)
	Reads the value from the encoder. More...
int	ENCODERReset (int quad)
	Resets the encoder, in reality just stores the current value of the encoder and subtracts it from future values. More...

Variables
int	ENCODERBaseVal [4]
HDT_MOTOR *	MOTORFirst
HDT_SERVO *	SERVOFirst
int	MOTORInitialised
int	SERVOInitialised

Detailed Description

Header file for the servos and motors functions.

Author

Marcus Pham

Function Documentation

int ENCODERRead

(

int

quad

)

Reads the value from the encoder.

Parameters

quad	the encoder to read from

Returns

the encoder value on success, 1 on failure

int ENCODERReset

(

int

quad

)

Resets the encoder, in reality just stores the current value of the encoder and subtracts it from future values.

Parameters

quad	the encoder to reset

Returns

0 on success, 1 on failure

int MOTORDrive	(	int	motor,
		int	speed
	)

Set the given motors to the same given speed dependant on hdt table.

Parameters

motor	the motor to set
speed	: motor speed in percent

Valid values for speed :

• -100 to 100 (full backward to full forward)
• 0 for full stop

  Returns

  0 on success, 1 on failure

int MOTORDriveRaw	(	int	motor,
		int	speed
	)

Set the given motor to a given speed.

Parameters

motor	the motor to set
speed	: motor speed

Valid values for speed :

• -100 to 100 (full backward to full forward)
• 0 for full stop

  Returns

  0 on success, 1 on failure

int MOTORInit

(

)

Initialises the IO board and sets up tables for motors.

Returns

0 on success, 1 otherwise

int MOTORPID	(	int	motor,
		int	p,
		int	i,
		int	d
	)

Set the given motors with PID control.

Parameters

motor	the motor to set
p	the p setting
i	the i setting
d	the d setting

Returns

0 on success, 1 on failure

int MOTORPIDoff

(

int

motor

)

Shuts off PID control.

Parameters

motor

the motor to set

Returns

0 on success, 1 on failure

int MOTORSpeed	(	int	motor,
		int	ticks
	)

Sets the controlled motor speed in ticks/sec.

Parameters

motor	the motor to set
ticks	the number of ticks per sec

Returns

0 on success, 1 on failure

int SERVOInit

(

)

Initialises the IO board and sets up tables for servos.

Returns

0 on success, 1 otherwise

int SERVORange	(	int	servo,
		int	low,
		int	high
	)

Sets the range for the servos.

Parameters

servo	the servo to set
low	the lower limit
high	the upper limit

Returns

0 on success, 1 otherwise

int SERVOSet	(	int	servo,
		int	angle
	)

Set the given servos to the same given angle depending on table value.

Parameters

servo	the servo number
angle	the angle to set it to

Returns

0 on success, 1 on failure

int SERVOSetRaw	(	int	servo,
		int	angle
	)

Set the given servos to the same given angle in raw mode.

Parameters

servo	the servo to set
int	angle : valid values = 0-255

Returns

0 on success, 1 otherwise