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#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 � 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);

/* Boucle principale. */
void
motor_main (void);

/* Traite une entr�e s�rie. */
void
motor_serial_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[]);

short
motor_parse (void);

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

/* -AutoDec */

#endif /* motor_h */