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#ifndef motor_h
#define motor_h
/* motor.h */
/* APBTasserv - asservissement Robot 2004 {{{
 *
 * Copyright (C) 2003 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2004.
 *	Web: http://assos.efrei.fr/robot/
 *	Mail: robot AT efrei DOT fr
 *
 * 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.
 *
 * }}} */

/* +AutoDec */

/* Initialise le module moteur. */
void
motor_init (void);

/* Addition limit�e � 32000. */
signed long
safe_add_long (signed long &a, signed long &b);

/* Soustraction limit�e � 32000. */
signed long
safe_sub_long (signed long &a, signed long &b);

/* Limite un entier entre -MAX et MAX. */
signed long
boundary (signed long &n, signed long &max);

/* Multiplication par les coef. */
signed long
safe_mul_long (signed long &a, unsigned int &k);

/* Met � jour la vitesse du moteur gauche. */
void
motor_update_left_speed (void);

/* Met � jour la vitesse du moteur droit. */
void
motor_update_right_speed (void);

/* Calcule le PID associ� au moteur gauche. */
void
motor_compute_left_pid (void);

/* Calcule le PID associ� au moteur droit. */
void
motor_compute_right_pid (void);

/* Param�tre la PWM pour le moteur gauche. */
void
motor_g_pwm (signed long &pwm);

/* Param�tre la PWM pour le moteur droit. */
void
motor_d_pwm (signed long &pwm);

/* Interruptions de comptage moteur. */
#int_EXT
EXT_isr();

#int_EXT1
EXT1_isr();

/* Interruption de PID. */
#int_TIMER2
TIMER2_isr ();

/* Traite une entr�e s�rie. */
short
motor_parse (void);

/* D�marre l'asservissement. */
void
motor_toggle_asservi (void);

/* -AutoDec */

#endif /* motor_h */