e_motors.c File Reference

Manage the motors (with timer2). More...

#include "./../e_epuck_ports.h"
#include "e_agenda.h"
#include <stdlib.h>

Defines
#define	POWERSAVE
#define	TRESHV   650
#define	MAXV   601
Functions
void	run_left_motor (void)
void	run_right_motor (void)
void	e_init_motors (void)
	Initialize the motors's agendas.
void	e_set_speed_left (int motor_speed)
	Manage the left motor speed.
void	e_set_speed_right (int motor_speed)
	Manage the right motor speed.
void	e_set_speed (int linear_speed, int angular_speed)
	Manage linear/angular speed.
int	e_get_steps_left ()
	Give the number of left motor steps.
void	e_set_steps_left (int set_steps)
	Set the number of left motor steps.
int	e_get_steps_right ()
	Give the number of right motor steps.
void	e_set_steps_right (int set_steps)
	Set the number of right motor steps.
Variables
static int	left_speed = 0
static int	right_speed = 0
static int	left_motor_phase = 0
static int	right_motor_phase = 0
static int	nbr_steps_left = 0
static int	nbr_steps_right = 0

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Detailed Description

Manage the motors (with timer2).

This module manage the motors with the agenda solution (timer2).

A little exemple to use the motors with agenda (e-puck turn on himself)

 #include <p30f6014A.h>
 #include <motor_led/e_epuck_ports.h>
 #include <motor_led/e_init_port.h>
 #include <motor_led/advance_one_timer/e_motors.h>
 #include <motor_led/advance_one_timer/e_agenda.h>
 
 int main(void)
 {
        e_init_port();
        e_init_motors();
        e_set_speed(-500, 500);
        e_start_agendas_processing();
        while(1) {}
 }

See also:

e_agenda.h

Author:

Code: Francesco Mondada, Lucas Meier
Doc: Jonathan Besuchet

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Define Documentation

#define MAXV   601

#define POWERSAVE

#define TRESHV   650

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Function Documentation

int e_get_steps_left

(

void

)

Give the number of left motor steps.

Returns:

The number of phases steps made since the left motor is running.

int e_get_steps_right

(

void

)

Give the number of right motor steps.

Returns:

The number of phases steps made since the right motor is running.

void e_init_motors

(

void

)

Initialize the motors's agendas.

This function initialize the agendas used by the motors. In fact it call e_activate_agenda(void (*func)(void), int cycle) function.

See also:

e_activate_agenda

void e_set_speed	(	int	linear_speed,
		int	angular_speed
	)

Manage linear/angular speed.

This function manage the speed of the motors according to the desired linear and angular speed.

Parameters:

	linear_speed	the speed in the axis of e-puck
	angular_speed	the rotation speed (trigonometric)

void e_set_speed_left

(

int

motor_speed

)

Manage the left motor speed.

This function manage the left motor speed by changing the MOTOR1 phases. The changing phases frequency (=> speed) is controled by the agenda (throw the function e_set_agenda_cycle(void (*func)(void), int cycle)).

Parameters:

motor_speed

from -1000 to 1000 give the motor speed in steps/s, positive value to go forward and negative to go backward.

See also:

e_set_agenda_cycle

void e_set_speed_right

(

int

motor_speed

)

Manage the right motor speed.

This function manage the right motor speed by changing the MOTOR2 phases. The changing phases frequency (=> speed) is controled by the agenda (throw the function e_set_agenda_cycle(void (*func)(void), int cycle)).

Parameters:

motor_speed

from -1000 to 1000 give the motor speed in steps/s, positive value to go forward and negative to go backward.

See also:

e_set_agenda_cycle

void e_set_steps_left

(

int

set_steps

)

Set the number of left motor steps.

Parameters:

set_steps

The number of changed phases that you want set.

void e_set_steps_right

(

int

set_steps

)

Set the number of right motor steps.

Parameters:

set_steps

The number of changed phases that you want set.

void run_left_motor

(

void

)

Change left motor phase according to the left_speed sign.

void run_right_motor

(

void

)

Change right motor phase according to the right_speed sign

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Variable Documentation

int left_motor_phase = 0 [static]

int left_speed = 0 [static]

int nbr_steps_left = 0 [static]

int nbr_steps_right = 0 [static]

int right_motor_phase = 0 [static]

int right_speed = 0 [static]

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