motor.h

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#ifndef MOTOR_H_
#define MOTOR_H_

/******** Defines ********/

#define MOTOR_LEFT                          0
#define MOTOR_RIGHT                         1

#define MOTOR_COMMAND_MODE_PWM                          0
#define MOTOR_COMMAND_MODE_VELOCITY                     1
#define MOTOR_COMMAND_MODE_WAYPOINT                     2
#define MOTOR_COMMAND_MODE_WAYPOINT_THETA       3

#define VELOCITY_MAX            300

/******** Functions ********/

void motorInit(void);


void motorTimeoutStop(void);


void motorCommandTimerUpdate(void);


void motorBrake(uint32 motor);


void motorSetPWM(uint32 motor, int32 dutyCycle);

//TODO: Not public/?
void motorSetPWM_rc(uint32 motor, int32 dutyCycle);


int32 motorGetVelocity(uint32 motor);


void motorSetVelocity(uint32 motor, int32 velocity);


void motorSetVelocity_rc(uint32 motor, int32 velocity);


void motorSetTVRV(int32 tv, int32 rv);

void motorSetTVRV_rc(int32 tv, int32 rv);

void motorGetTVRV(int32* tvPtr, int32* rvPtr);

boolean waypointMoveDone(void);


void waypointMove(Pose* posePtr, int32 speed);

void waypointMoveRelative(Pose* posePtr, int32 speed);


void waypointMoveTheta(Pose* posePtr, int32 speed);

void waypointMoveThetaRelative(Pose* posePtr, int32 speed);

void motorVelocityUpdate(void);


#endif /* MOTOR_H_ */