e-puck: motor_led/e_motors.h File Reference


Functions
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.
int	e_get_steps_left (void)
	Give the number of left motor steps.
int	e_get_steps_right (void)
	Give the number of right motor steps.
void	e_set_steps_left (int set_steps)
	Set the number of left motor steps.
void	e_set_steps_right (int set_steps)
	Set the number of right motor steps.

Detailed Description

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

 #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) {}
 }

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

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

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

Initialize the motors's agendas.

This function configure timer3 and 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 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