#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: * }}} */ #include #include #include /* +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 */