From 8a6cac0a41be34d36122ab5271295b0ee83fddac Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 2 May 2011 18:52:14 +0200 Subject: digital/{ai,io}: move TWI master files to ai directory --- digital/ai/src/twi_master/mimot.h | 95 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 95 insertions(+) create mode 100644 digital/ai/src/twi_master/mimot.h (limited to 'digital/ai/src/twi_master/mimot.h') diff --git a/digital/ai/src/twi_master/mimot.h b/digital/ai/src/twi_master/mimot.h new file mode 100644 index 00000000..60811c10 --- /dev/null +++ b/digital/ai/src/twi_master/mimot.h @@ -0,0 +1,95 @@ +#ifndef mimot_h +#define mimot_h +/* mimot.h */ +/* ai - Robot Artificial Intelligence. {{{ + * + * Copyright (C) 2010 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "asserv.h" + +/** + * Provide interface to mimot board using the TWI protocol. + */ + +/** Slave number in the twi_master list. */ +#define MIMOT_SLAVE 1 + +/** Mimot TWI address. */ +#define MIMOT_TWI_ADDRESS 6 + +/** Length of status buffer (not including CRC). */ +#define MIMOT_STATUS_LENGTH 7 + +/** Initialise module. */ +void +mimot_init (void); + +/** Called when a new status buffer is received, update the mimot + * information. */ +void +mimot_status_cb (uint8_t *status); + +/** Return motor0 last command status. */ +asserv_status_e +mimot_motor0_cmd_status (void); + +/** Return motor1 last command status. */ +asserv_status_e +mimot_motor1_cmd_status (void); + +/** Get motor0 position in steps. */ +uint16_t +mimot_get_motor0_position (void); + +/** Get motor1 position in steps. */ +uint16_t +mimot_get_motor1_position (void); + +/** Reset mimot board. */ +void +mimot_reset (void); + +/** Move motor0 to absolute position in steps. */ +void +mimot_move_motor0_absolute (uint16_t position, uint8_t speed); + +/** Move motor1 to absolute position in steps. */ +void +mimot_move_motor1_absolute (uint16_t position, uint8_t speed); + +/** Reset motor0 to zero position. */ +void +mimot_motor0_zero_position (int8_t speed); + +/** Reset motor1 to zero position. */ +void +mimot_motor1_zero_position (int8_t speed); + +/** Clamp motor0. */ +void +mimot_motor0_clamp (int8_t speed, int16_t pwm); + +/** Clamp motor1. */ +void +mimot_motor1_clamp (int8_t speed, int16_t pwm); + +#endif /* mimot_h */ -- cgit v1.2.3