summaryrefslogtreecommitdiff
path: root/n/asserv/src/motor.h
diff options
context:
space:
mode:
authorschodet2004-09-29 21:07:25 +0000
committerschodet2004-09-29 21:07:25 +0000
commit55b33a20a69479219745172575c4504acd52730d (patch)
tree64f847e19e623c32ed37f7429252c4e71034e013 /n/asserv/src/motor.h
parentce1909a893f3a4c799eb2f876b78cfb0cf16cbf6 (diff)
Initial revision
Diffstat (limited to 'n/asserv/src/motor.h')
-rw-r--r--n/asserv/src/motor.h74
1 files changed, 74 insertions, 0 deletions
diff --git a/n/asserv/src/motor.h b/n/asserv/src/motor.h
new file mode 100644
index 0000000..5412712
--- /dev/null
+++ b/n/asserv/src/motor.h
@@ -0,0 +1,74 @@
+#ifndef motor_h
+#define motor_h
+/* motor.h */
+/* {{{
+ *
+ * Copyright (C) 2004 Nicolas Schodet
+ *
+ * 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.
+ *
+ * Contact :
+ * Web: http://perso.efrei.fr/~schodet/
+ * Email: <contact@ni.fr.eu.org>
+ * }}} */
+
+#include <n/avr/proto/proto.h>
+#include <avr/signal.h>
+#include <inttypes.h>
+
+/* +AutoDec */
+
+/* Initialise le module moteur. */
+void
+motor_init (void);
+
+/* Limite un entier entre -MAX et MAX. */
+inline int16_t
+boundary (int16_t n, int16_t max);
+
+/* Met à jour la vitesse du moteur gauche. */
+void
+motor_update_left_speed (void);
+
+/* Met à jour la vitesse du moteur droit. */
+void
+motor_update_right_speed (void);
+
+/* Calcule le PID associé au moteur gauche. */
+void
+motor_compute_left_pid (void);
+
+/* Calcule le PID associé au moteur droit. */
+void
+motor_compute_right_pid (void);
+
+/* Boucle principale. */
+void
+motor_main (void);
+
+/* Traite une entrée série. */
+void
+motor_serial_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[]);
+
+short
+motor_parse (void);
+
+/* Démarre l'asservissement. */
+void
+motor_toggle_asservi (void);
+
+/* -AutoDec */
+
+#endif /* motor_h */