motors.h File Reference

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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

Copyright

KISS Institute for Practical Robotics