abdrive library v0.5.5 Differential servo and encoder drive library for the Parallax ActivityBot

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abdrive.h
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1
54 #ifndef ABDRIVE_H
55 #define ABDRIVE_H
56
57 #if defined(__cplusplus)
58 extern "C" {
59 #endif
60
61 #include "simpletools.h"
62 #include "simpletext.h"
63 #include "fdserial.h"
64
65 /*
66 #ifndef interactive_development_mode
67 #define interactive_development_mode
68 void display_control_sys(int start, int end);
69 #endif
70 */
71
72 #ifndef _ActivityBot_EE_Start_
73
77 #define _ActivityBot_EE_Start_ 63418
78 #endif
79
80 #ifndef _ActivityBot_EE_Pins_
81 #define _ActivityBot_EE_Pins_ 12
82 #endif
83
84 #ifndef _ActivityBot_EE_Trims_
85 #define _ActivityBot_EE_Trims_ 28
86 #endif
87
88 #ifndef _ActivityBot_EE_Left_
89 #define _ActivityBot_EE_Left_ 52
90 #endif
91
92 #ifndef _ActivityBot_EE_Right_
93 #define _ActivityBot_EE_Right_ 1052
94 #endif
95
96 #ifndef _ActivityBot_EE_End_
97
101 #define _ActivityBot_EE_End_ 63418 + 2052
102 #endif
103
104 #ifndef AB_RIGHT
105 #define AB_RIGHT 1
106 #endif
107
108 #ifndef AB_LEFT
109 #define AB_LEFT -1
110 #endif
111
112
113 #ifndef AB_FORWARD
114 #define AB_FORWARD 1
115 #endif
116
117 #ifndef AB_BACKWARD
118 #define AB_BACKWARD -1
119 #endif
120
121 #ifndef OFF
122
126 #define OFF 0
127 #endif
128
129 #ifndef ON
130
134 #define ON 1
135 #endif
136
137
143 void drive_feedback(int enabled);
144
145
152 void drive_trim(int enabled);
153
154
175 void drive_trimSet(int direction, int side, int value);
176
177
184 void drive_trimDisplay(void);
185
186
194 void drive_displayInterpolation(void);
195
196
207 void drive_encoderPins(int encPinLeft, int encPinRight);
208
209
220 void drive_servoPins(int servoPinLeft, int servoPinRight);
221
222
231 void drive_speed(int left, int right);
232
233
244 void drive_ramp(int left, int right);
245
246
258 void drive_rampStep(int left, int right);
259
266 void drive_setRampStep(int stepsize);
267
268
278 void drive_distance(int left, int right);
279
280
285 void drive_close(void);
286
287
288
292 int drive_open();
293
294
304 void drive_setMaxSpeed(int speed);
305
306
318 void drive_goto(int distLeft, int distRight);
319
320
330 void drive_getTicks(int *left, int *right);
331
332
342 void drive_getTicksCalc(int *left, int *right);
343
344
356 void drive_getTicksCalc(int *left, int *right);
357
358
359 /*
360 void drive_getSpeedCalc(int *left, int *right);
361 void drive_getSpeedActual(int *left, int *right);
362 */
363
364 #if defined(__cplusplus)
365 }
366 #endif
367 /* __cplusplus */
368 #endif
369 /* ABDRIVE_H */
370