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

Detailed Description

Function Documentation

VF EXPORT_SYM void alloff

(

)

Turns all motors off.

See also

ao

VF EXPORT_SYM void ao

(

)

Turns all motors off.

VF EXPORT_SYM void bk

(

int

motor

)

Moves the given motor backward at full power

Parameters

motor

the motor's port.

VF EXPORT_SYM void block_motor_done

(

int

motor

)

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM void bmd

(

int

motor

)

Parameters

[in]

motor

The motor port.

See also

block_motor_done

VF EXPORT_SYM void clear_motor_position_counter

(

int

motor

)

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM void cmpc

(

int

motor

)

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM void fd

(

int

motor

)

Moves the given motor forward at full power

Parameters

motor

the motor's port.

VF EXPORT_SYM int freeze

(

int

motor

)

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM int get_motor_done

(

int

motor

)

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM int get_motor_position_counter

(

int

motor

)

Parameters

[in]

motor

The motor port.

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

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM int getpwm

(

int

motor

)

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM int gmpc

(

int

motor

)

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM int mav	(	int	motor,
		int	velocity
	)

Parameters

[in]

motor

The motor port.

See also

move_at_velocity

VF EXPORT_SYM void motor	(	int	motor,
		int	percent
	)

Moves a motor at a percent power.

Parameters

[in]	motor	The motor port.
[in]	percent	The power of the motor, between -100 and 100.

VF EXPORT_SYM int move_at_velocity	(	int	motor,
		int	velocity
	)

Parameters

[in]

motor

The motor port.

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

Parameters

[in]

motor

The motor port.

See also

move_relative_position

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

Parameters

[in]

motor

The motor port.

See also

move_to_position

VF EXPORT_SYM void off

(

int

motor

)

Turns the specified motor off.

Parameters

motor

the motor's port.

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

Parameters

[in]

motor

The motor port.

VF EXPORT_SYM int setpwm	(	int	motor,
		int	pwm
	)

Parameters

[in]

motor

The motor port.