e_motors.c File Reference

Manage the motors (with timer 4 and 5). More...

#include <stdlib.h>
#include "e_epuck_ports.h"
#include "e_init_port.h"
#include "e_motors.h"

Functions
void	__attribute__ ((interrupt, auto_psv, shadow))
void	e_init_motors (void)
	Initialize the motors's ports.
void	e_set_speed_left (int motor_speed)
	Manage the left speed.
void	e_set_speed_right (int motor_speed)
	Manage the right speed.
int	e_get_steps_left (void)
	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 (void)
	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	nbr_pas_left = 0
static int	nbr_pas_right = 0

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Detailed Description

Manage the motors (with timer 4 and 5).

This module manage the motors with two timers: timer4 (motor left) and timer5 (motor right).

Warning:

You can't use this module to control the motors if you are using the camera, because the camera's module also use timer4 and timer5.

A little exemple for the motors (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/e_motors.h>
 
 int main(void)
 {
        e_init_motors();
        e_set_speed_left(500); //go forward on half speed
        e_set_speed_right(-500); //go backward on half speed
        while(1) {}
 }

Author:

Code: Michael Bonani, Francesco Mondada, Lucas Meier
Doc: Jonathan Besuchet

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Function Documentation

void __attribute__

(

(interrupt, auto_psv, shadow)

)

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 ports.

Initialize the motors's agendas.

This function initialize the ports used by the motors. In fact it call "the e_init_port()" function.

See also:

e_init_port

void e_set_speed_left

(

int

motor_speed

)

Manage the left 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 timer5.

Parameters:

motor_speed

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

void e_set_speed_right

(

int

motor_speed

)

Manage the right 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 timer4.

Parameters:

motor_speed

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

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.

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Variable Documentation

int left_speed = 0 [static]

int nbr_pas_left = 0 [static]

int nbr_pas_right = 0 [static]

int right_speed = 0 [static]

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