abdrive.h

Go to the documentation of this file.

//#define _monitor_

//#ifndef DOXYGEN_SHOULD_SKIP_THIS
#ifndef ABDRIVE_H
#define ABDRIVE_H
//#endif

#if defined(__cplusplus)
extern "C" {
#endif

#include "simpletools.h"
#include "simpletext.h"
#include "fdserial.h"
#ifndef ABD_RAMP_STEP 

#define ABD_RAMP_STEP 12
#endif


#ifndef ABD_SPEED_LIMIT

#define ABD_SPEED_LIMIT 128
#endif


#ifndef ABD_GOTO_SPEED_LIMIT

#define ABD_GOTO_SPEED_LIMIT 64
#endif


#ifndef ABD_GOTO_RAMP_STEP

#define ABD_GOTO_RAMP_STEP 4
#endif


#ifndef ABD_NUDGE_SPEED 

#define ABD_NUDGE_SPEED 4
#endif


#ifndef ABD_STOP_50ths 

#define ABD_STOP_50ths 5
#endif




#ifndef _ActivityBot_EE_Start_

#define _ActivityBot_EE_Start_ 63418
#endif


#ifndef _ActivityBot_EE_End_

#define _ActivityBot_EE_End_ 63418 + 2052
#endif


#ifndef FOR_GOTO

#define FOR_GOTO 1
#endif


#ifndef FOR_SPEED

#define FOR_SPEED 0
#endif


#ifndef OFF

#define OFF 0
#endif

#ifndef ON

#define ON  1
#endif


#ifndef SIDE_LEFT

#define SIDE_LEFT 0
#endif


#ifndef SIDE_RIGHT

#define SIDE_RIGHT 1
#endif


#ifndef SIDE_BOTH

#define SIDE_BOTH 2
#endif



void drive_goto(int distLeft, int distRight);



void drive_speed(int left, int right); 


void drive_getTicks(int *left, int *right);


void drive_calibrationResults(void);



void drive_displayInterpolation(void);


void drive_getTicksCalc(int *left, int *right);


int drive_gotoStatus(int side);


void drive_encoderPins(int encPinLeft, int encPinRight);


void drive_feedback(int enabled);                      


void drive_gotoMode(int mode);


void drive_servoPins(int servoPinLeft, int servoPinRight);


void drive_setAcceleration(int forGotoOrSpeed, int ticksPerSecSq);


void drive_setMaxSpeed(int speed);


void drive_setMaxVelocity(int forGotoOrSpeed, int ticksPerSec);



void drive_setRampStep(int stepsize);


void drive_rampStep(int left, int right);

void drive_ramp(int left, int right);

/*
  void drive_getSpeedCalc(int *left, int *right);
  void drive_getSpeedActual(int *left, int *right);
*/

#ifndef DOXYGEN_SHOULD_SKIP_THIS

/* =========================================================================== */
//                        PRIVATE FUNCTIONS/MACROS
/* =========================================================================== */

#ifndef _ActivityBot_EE_Pins_
#define _ActivityBot_EE_Pins_ 12
#endif

#ifndef _ActivityBot_EE_Trims_
#define _ActivityBot_EE_Trims_ 28
#endif

#ifndef _ActivityBot_EE_Left_
#define _ActivityBot_EE_Left_ 52
#endif

#ifndef _ActivityBot_EE_Right_
#define _ActivityBot_EE_Right_ 1052
#endif

#ifndef ABD_L 
#define ABD_L 0
#endif

#ifndef ABD_R 
#define ABD_R 1
#endif

#ifndef ABD_B 
#define ABD_B 2
#endif

#ifndef ABD_T 
#define ABD_T 3
#endif


#ifndef ABD_FOR_BOTH
#define ABD_FOR_BOTH 2
#endif

#ifndef AB_RIGHT  
#define AB_RIGHT  1
#endif

#ifndef AB_LEFT
#define AB_LEFT -1
#endif

/*
 #ifndef interactive_development_mode
 #define interactive_development_mode
 void display_control_sys(int start, int end);
 #endif
*/

#ifdef _monitor_
void monitor_start(int monitorReps);
void monitor_stop();
#endif

#ifndef AB_RIGHT  
#define AB_RIGHT  1
#endif

#ifndef AB_LEFT
#define AB_LEFT -1
#endif

#ifndef AB_FORWARD

#define AB_FORWARD 1
#endif

#ifndef AB_BACKWARD

#define AB_BACKWARD -1
#endif

void monitor_start(int monitorReps);
void monitor_stop(void);


#endif // DOXYGEN_SHOULD_SKIP_THIS





#if defined(__cplusplus)
}
#endif
/* __cplusplus */  
#endif
/* ABDRIVE_H */