NIBO Library: nibo/motco.h Quellcode

NIBO Library 2.11
00001 /*  BSD-License:
00002 
00003 Copyright (c) 2007 by Nils Springob, nicai-systems, Germany
00004 
00005 All rights reserved.
00006 
00007 Redistribution and use in source and binary forms, with or without modification,
00008 are permitted provided that the following conditions are met:
00009 
00010   * Redistributions of source code must retain the above copyright notice,
00011     this list of conditions and the following disclaimer.
00012   * Redistributions in binary form must reproduce the above copyright notice,
00013     this list of conditions and the following disclaimer in the documentation
00014     and/or other materials provided with the distribution.
00015   * Neither the name nicai-systems nor the names of its contributors may be
00016     used to endorse or promote products derived from this software without
00017     specific prior written permission.
00018 
00019 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00020 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00021 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
00022 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
00023 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
00024 EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
00025 PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
00026 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00027 LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
00028 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00029 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00030 
00031 */
00032 
00039 #ifndef NIBO_MOTCO_H_
00040 #define NIBO_MOTCO_H_
00041 #if defined(NIBO_USE_MOTCO) || defined (DOXYGEN)
00042 
00043 #include <stdint.h>
00044 
00045 #ifdef __cplusplus
00046 extern "C" {
00047 #endif
00048 
00052 extern int16_t motco_speed_l;
00053 
00057 extern int16_t motco_speed_r;
00058 
00062 extern int16_t motco_ticks_l;
00063 
00067 extern int16_t motco_ticks_r;
00068 
00072 uint8_t motco_update();
00073 
00077 uint8_t motco_stop();
00078 
00082 uint8_t motco_stopImmediate();
00083 
00084 
00091 uint8_t motco_setPWM(int16_t left, int16_t right);
00092 
00099 uint8_t motco_setSpeed(int16_t left, int16_t right);
00100 
00108 uint8_t motco_setPosition(int16_t left, int16_t right, uint16_t speed);
00109 
00117 uint8_t motco_setSpeedParameters(int8_t ki, int8_t kp, int8_t kd);
00118 
00126 uint8_t motco_setPositionParameters(int8_t ki, int8_t kp, int8_t kd);
00127 
00133 uint8_t motco_resetOdometry(int16_t left, int16_t right);
00134 
00135 #ifdef __cplusplus
00136 } // extern "C"
00137 #endif
00138 
00139 #endif // NIBO_USE_MOTCO
00140 #endif // NIBO_MOTCO_H_