e_motors_timer3.c File Reference

Initialize the ports on standard configuration. More...

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

Functions
void	__attribute__ ((interrupt, auto_psv, shadow))
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.
void	e_set_speed_left (int motor_speed)
	Manage the left speed.
void	e_set_speed_right (int motor_speed)
	Manage the right speed.
void	e_init_motors (void)
	Initialize the motors's ports.
Variables
static int	left_speed = 0
static int	right_speed = 0
static int	nbr_pas_left = 0
static int	nbr_pas_right = 0
static int	motor_counter_left = 0
static int	motor_counter_right = 0
static int	motor_counter_left_init = 0
static int	motor_counter_right_init = 0

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Detailed Description

Initialize the ports on standard configuration.

Manage the motors (with timer3).

Author:

Code: Michael Bonani, Francesco Mondada, Davis Dadie
Doc: Jonathan Besuchet

This module manage the two motors with one timer: timer3.

Author:

Code: Michael Bonani, Francesco Mondada, Lucas Meier, Xavier Raemy
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 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 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 timer3.

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 timer3.

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 motor_counter_left = 0 [static]

int motor_counter_left_init = 0 [static]

int motor_counter_right = 0 [static]

int motor_counter_right_init = 0 [static]

int nbr_pas_left = 0 [static]

int nbr_pas_right = 0 [static]

int right_speed = 0 [static]

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