Motors

Classes
class	Motor
	A motor object that is associated with a physical motor port. More...
class	BackEMF
	Allows the reading of the back emf values for each motor. More...

Functions
int	get_motor_position_counter (int motor)
void	clear_motor_position_counter (int motor)
int	move_at_velocity (int motor, int velocity)
int	mav (int motor, int velocity)
int	mtp (int motor, int speed, int goal_pos)
int	mrp (int motor, int speed, int delta_pos)
void	set_pid_gains (int motor, short p, short i, short d, short pd, short id, short dd)
void	get_pid_gains (int motor, short *p, short *i, short *d, short *pd, short *id, short *dd)
int	freeze (int motor)
int	get_motor_done (int motor)
void	block_motor_done (int motor)
void	bmd (int motor)
int	setpwm (int motor, int pwm)
int	getpwm (int motor)
void	fd (int motor)
void	bk (int motor)
void	motor (int motor, int percent)
void	off (int motor)
void	alloff ()
void	ao ()

Detailed Description

Function Documentation

void alloff

(

)

Turns all motors off.

See Also

ao

void ao

(

)

Turns all motors off.

void bk

(

int

motor

)

Moves the given motor backward at full power

Parameters

motor

the motor's port.

void block_motor_done

(

int

motor

)

void bmd

(

int

motor

)

See Also

block_motor_done

void clear_motor_position_counter

(

int

motor

)

void fd

(

int

motor

)

Moves the given motor forward at full power

Parameters

motor

the motor's port.

int freeze

(

int

motor

)

int get_motor_done

(

int

motor

)

int get_motor_position_counter

(

int

motor

)

void get_pid_gains	(	int	motor,
		short *	p,
		short *	i,
		short *	d,
		short *	pd,
		short *	id,
		short *	dd
	)

int getpwm

(

int

motor

)

int mav	(	int	motor,
		int	velocity
	)

See Also

move_at_velocity

void motor	(	int	motor,
		int	percent
	)

int move_at_velocity	(	int	motor,
		int	velocity
	)

int mrp	(	int	motor,
		int	speed,
		int	delta_pos
	)

See Also

move_relative_position

int mtp	(	int	motor,
		int	speed,
		int	goal_pos
	)

See Also

move_to_position

void off

(

int

motor

)

Turns the specified motor off.

Parameters

motor

the motor's port.

void set_pid_gains	(	int	motor,
		short	p,
		short	i,
		short	d,
		short	pd,
		short	id,
		short	dd
	)

int setpwm	(	int	motor,
		int	pwm
	)