Functions that control the two motors on the rone. More...

Functions
void	motorInit (void)
	Initializes motor. More...

void	motorTimeoutStop (void)
	Turns off the motors at a low level. More...

void	motorCommandTimerUpdate (void)
	Updates the motor command timer. More...

void	motorBrake (uint32 motor)
	Brakes one motor with the specified duty cycle. More...

void	motorSetPWM (uint32 motor, int32 dutyCycle)
	Sets PWM duty cycle for the specified motor if remote control mode is off. More...

int32	motorGetVelocity (uint32 motor)
	Gets the current velocity of the specified motor. More...

void	motorSetVelocity (uint32 motor, int32 velocity)
	Sets the velocity of the specified motor if remote control mode is off. More...

void	motorSetVelocity_rc (uint32 motor, int32 velocity)
	Sets the velocity of the specified motor. Should not be called by user. More...

void	motorSetTVRV (int32 tv, int32 rv)
	Sets the translation and radial velocity of the motors if remote control mode is off. More...

void	motorSetTVRV_rc (int32 tv, int32 rv)
	Sets the translation and radial velocity of the motors. Should not be called by the user. Call motorSetTVRV instead. More...

void	motorGetTVRV (int32 tvPtr, int32 rvPtr)
	Gets the translational and radial velocity of the motor. More...

boolean	waypointMoveDone (void)
	Returns whether current waypoint has been reached. More...

void	waypointMove (Pose *posePtr, int32 speed)
	MotorCommandMode set so that waypoint behavior can be set with absolute coordinates. Sets Goal point and speed accodrding to Parameters. More...

void	waypointMoveRelative (Pose *posePtr, int32 speed)
	MotorCommandMode set so that waypoint behavior can be set with relative coordinates. Sets Goal point and speed accodrding to Parameters. More...

void	waypointMoveTheta (Pose *posePtr, int32 speed)
	MotorCommandMode set so that waypoint behavior can be set with absolute coordinates for theta. Sets Goal point and speed accodrding to Parameters. More...

void	waypointMoveThetaRelative (Pose *posePtr, int32 speed)
	MotorCommandMode set so that waypoint behavior can be set with relative coordinates for theta. Sets Goal point and speed accodrding to Parameters. More...

void	motorVelocityUpdate (void)
	Updates the velocity data for both motors. Does this for both coordinates and theta. More...

Detailed Description

Functions that control the two motors on the rone.

Since: Mar 23, 2011

Author: James McLurkin

Function Documentation

void motorBrake ( uint32 motor)

Brakes one motor with the specified duty cycle.

Parameters

motor (left or right)

Returns: void

void motorCommandTimerUpdate ( void )

Updates the motor command timer.

If no motor command has been received, timeout and enables the charger. This function should be called at 10 hz.

Returns: void

void motorGetTVRV	(	int32 *	tvPtr,
		int32 *	rvPtr
	)

Gets the translational and radial velocity of the motor.

Parameters

tvPtr	pointer to the desired translational velocity
rvPtr	pointer to the desired rotational velocity

Returns: void

int32 motorGetVelocity ( uint32 motor)

Gets the current velocity of the specified motor.

Parameters

motor left or right motor

Returns: the current velocity; 0 if the input parameter is not recognized

void motorInit ( void )

Initializes motor.

Enables PWM and initializes the motorVelocityData struct for both left and right motor. Also sets the command timer to 0

Returns: void

void motorSetPWM	(	uint32	motor,
		int32	dutyCycle
	)

Sets PWM duty cycle for the specified motor if remote control mode is off.

Sets PWM duty cycle for the specified motor for both reverse and forward signals.

Parameters

motor	left or right motor
dutyCycle	duty cycle of PWM

Returns: void

void motorSetTVRV	(	int32	tv,
		int32	rv
	)

Sets the translation and radial velocity of the motors if remote control mode is off.

Parameters

tv	the translational velocity
rv	the rotational velocity

Returns: void

void motorSetTVRV_rc	(	int32	tv,
		int32	rv
	)

Sets the translation and radial velocity of the motors. Should not be called by the user. Call motorSetTVRV instead.

Parameters

tv	the translational velocity
rv	the rotational velocity

Returns: void

void motorSetVelocity	(	uint32	motor,
		int32	velocity
	)

Sets the velocity of the specified motor if remote control mode is off.

Parameters

motor	left or right motor
velocity	motor velocity to be set in mm/s

Returns: void

void motorSetVelocity_rc	(	uint32	motor,
		int32	velocity
	)

Sets the velocity of the specified motor. Should not be called by user.

Parameters

motor	left or right motor
velocity	motor velocity to be set in mm/s

Returns: void

void motorTimeoutStop ( void )

Turns off the motors at a low level.

Returns: void

void motorVelocityUpdate ( void )

Updates the velocity data for both motors. Does this for both coordinates and theta.

Returns: void

void waypointMove	(	Pose *	posePtr,
		int32	speed
	)

MotorCommandMode set so that waypoint behavior can be set with absolute coordinates. Sets Goal point and speed accodrding to Parameters.

Parameters

posePtr	- Pointer to postion of Goal
speed

Returns: void

boolean waypointMoveDone ( void )

Returns whether current waypoint has been reached.

Returns: waypointDone boolean that keeps track of whether the current waypoint has been reached or not

void waypointMoveRelative	(	Pose *	posePtr,
		int32	speed
	)

MotorCommandMode set so that waypoint behavior can be set with relative coordinates. Sets Goal point and speed accodrding to Parameters.

Parameters

posePtr	- Pointer to postion of Goal
speed

Returns: void

void waypointMoveTheta	(	Pose *	posePtr,
		int32	speed
	)

MotorCommandMode set so that waypoint behavior can be set with absolute coordinates for theta. Sets Goal point and speed accodrding to Parameters.

Parameters

posePtr	- Pointer to postion of Goal
speed

Returns: void

void waypointMoveThetaRelative	(	Pose *	posePtr,
		int32	speed
	)

MotorCommandMode set so that waypoint behavior can be set with relative coordinates for theta. Sets Goal point and speed accodrding to Parameters.

Parameters

posePtr	- Pointer to postion of Goal
speed

Returns: void