Functions
int	get_motor_position_counter (int motor)
	Gets the current motor position. More...

int	gmpc (int motor)
	Gets the current motor position. More...

void	clear_motor_position_counter (int motor)
	Clears the motor position counter. More...

void	cmpc (int motor)
	Clears the motor position counter. More...

int	move_at_velocity (int motor, int velocity)
	Set a goal velocity in ticks per second. The range is -1500 to 1500, though motor position accuracy may be decreased outside of -1000 to 1000. More...

int	mav (int motor, int velocity)
	Set a goal velocity in ticks per second. More...

int	move_to_position (int motor, int speed, int goal_pos)
	Set a goal position (in ticks) for the motor to move to. There are approximately 1500 ticks per motor revolution. This function is more accurate if speeds between -1000 and 1000 are used. More...

int	mtp (int motor, int speed, int goal_pos)
	Set a goal position (in ticks) for the motor to move to. More...

int	move_relative_position (int motor, int speed, int delta_pos)
	Set a goal position (in ticks) for the motor to move to, relative to the current position. More...

int	mrp (int motor, int speed, int delta_pos)
	Set a goal position (in ticks) for the motor to move to, relative to the current position. More...

void	set_pid_gains (int motor, short p, short i, short d, short pd, short id, short dd)
	Set the motor PID gains, represented as fractions. More...

void	get_pid_gains (int motor, short p, short i, short d, short pd, short id, short dd)
	Set the motor PID gains, represented as fractions. More...

int	freeze (int motor)
	Active braking to stop a motor. More...

int	get_motor_done (int motor)
	Check if the motor has reached it's goal. More...

void	block_motor_done (int motor)
	Wait until the motor is at it's goal. More...

void	bmd (int motor)
	Wait until the motor is at it's goal. More...

int	setpwm (int motor, int pwm)
	Set the motor pwm (percent power) command. More...

int	getpwm (int motor)
	Get the current motor pwm command. More...

void	fd (int motor)
	Moves the given motor forward at full power. More...

void	bk (int motor)
	Moves the given motor backward at full power. More...

void	motor (int motor, int percent)
	Moves a motor at a percent velocity. More...

void	motor_power (int motor, int percent)
	Moves a motor at a percent power. More...

void	off (int motor)
	Turns the specified motor off. More...

void	alloff ()
	Turns all motors off. More...

void	ao ()
	Turns all motors off. More...

Detailed Description

Function Documentation

void alloff ( )

Turns all motors off.

See also: ao

void ao ( )

Turns all motors off.

See also: alloff

void bk ( int motor )

Moves the given motor backward at full power.

Parameters

motor the motor's port.

void block_motor_done ( int motor )

Wait until the motor is at it's goal.

Parameters

[in] motor The motor port.

See also: bmd

void bmd ( int motor )

Wait until the motor is at it's goal.

Parameters

[in] motor The motor port.

See also: block_motor_done

void clear_motor_position_counter ( int motor )

Clears the motor position counter.

Parameters

[in] motor The motor port.

See also: cmpc

void cmpc ( int motor )

Clears the motor position counter.

Parameters

[in] motor The motor port.

See also: clear_motor_position_counter

void fd ( int motor )

Moves the given motor forward at full power.

Parameters

motor the motor's port.

int freeze ( int motor )

Active braking to stop a motor.

Parameters

[in] motor The motor port.

int get_motor_done ( int motor )

Check if the motor has reached it's goal.

Parameters

[in] motor The motor port.

Returns: 1: at goal 0: not at goal

int get_motor_position_counter ( int motor )

Gets the current motor position.

Parameters

[in] motor The motor port.

See also: gmpc

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

Set the motor PID gains, represented as fractions.

Parameters

[out]	motor	The motor port.
[out]	p	The P (proportional) gain numerator
[out]	i	The I (integral) gain numerator
[out]	d	The D (derivative) gain numerator
[out]	pd	The P (proportional) gain denominator
[out]	id	The I (integral) gain denominator
[out]	dd	The D (derivative) gain denominator

int getpwm ( int motor )

Get the current motor pwm command.

Parameters

[in] motor The motor port.

int gmpc ( int motor )

Gets the current motor position.

Parameters

[in] motor The motor port.

See also: get_motor_position_counter

int mav	(	int	motor,
		int	velocity
	)

Set a goal velocity in ticks per second.

Parameters

[in]	motor	The motor port.
[in]	velocity	The goal velocity in -1500 to 1500 ticks / second

See also: move_at_velocity

void motor	(	int	motor,
		int	percent
	)

Moves a motor at a percent velocity.

Parameters

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

void motor_power	(	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.

int move_at_velocity	(	int	motor,
		int	velocity
	)

Set a goal velocity in ticks per second. The range is -1500 to 1500, though motor position accuracy may be decreased outside of -1000 to 1000.

Parameters

[in]	motor	The motor port.
[in]	velocity	The goal velocity in -1500 to 1500 ticks / second

See also: mav

int move_relative_position	(	int	motor,
		int	speed,
		int	delta_pos
	)

Set a goal position (in ticks) for the motor to move to, relative to the current position.

Parameters

[in]	motor	The motor port.
[in]	speed	The speed to move at, between -1500 and 1500 ticks / second
[in]	delta_pos	The position to move to (in ticks) given the current position

See also: mrp

int move_to_position	(	int	motor,
		int	speed,
		int	goal_pos
	)

Set a goal position (in ticks) for the motor to move to. There are approximately 1500 ticks per motor revolution. This function is more accurate if speeds between -1000 and 1000 are used.

Parameters

[in]	motor	The motor port.
[in]	speed	The speed to move at, between -1500 and 1500 ticks / second
[in]	goal_pos	The position to move to (in ticks)

See also: mtp

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

Set a goal position (in ticks) for the motor to move to, relative to the current position.

Parameters

[in]	motor	The motor port.
[in]	speed	The speed to move at, between -1500 and 1500 ticks / second
[in]	delta_pos	The position to move to (in ticks) given the current position

See also: move_relative_position

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

Set a goal position (in ticks) for the motor to move to.

Parameters

[in]	motor	The motor port.
[in]	speed	The speed to move at, between -1500 and 1500 ticks / second
[in]	goal_pos	The position to move to (in ticks)

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
	)

Set the motor PID gains, represented as fractions.

Parameters

[in]	motor	The motor port.
[in]	p	The P (proportional) gain numerator
[in]	i	The I (integral) gain numerator
[in]	d	The D (derivative) gain numerator
[in]	pd	The P (proportional) gain denominator
[in]	id	The I (integral) gain denominator
[in]	dd	The D (derivative) gain denominator

int setpwm	(	int	motor,
		int	pwm
	)

Set the motor pwm (percent power) command.

Parameters

[in]	motor	The motor port.
[in]	pwm	A new motor pwm command between 0 and 100

Functions

Detailed Description

Function Documentation