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PropWare
3.0.0.229
C++ objects and CMake build system for Parallax Propeller
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Go to the documentation of this file.
88 #if defined(__cplusplus)
101 #define ABD_RAMP_STEP 12
105 #ifndef ABD_SPEED_LIMIT
112 #define ABD_SPEED_LIMIT 128
116 #ifndef ABD_GOTO_SPEED_LIMIT
122 #define ABD_GOTO_SPEED_LIMIT 64
126 #ifndef ABD_GOTO_RAMP_STEP
132 #define ABD_GOTO_RAMP_STEP 4
136 #ifndef ABD_NUDGE_SPEED
142 #define ABD_NUDGE_SPEED 4
146 #ifndef ABD_STOP_50ths
153 #define ABD_STOP_50ths 5
159 #ifndef _ActivityBot_EE_Start_
164 #define _ActivityBot_EE_Start_ 63418
168 #ifndef _ActivityBot_EE_End_
173 #define _ActivityBot_EE_End_ 63418 + 2052
508 #ifndef DOXYGEN_SHOULD_SKIP_THIS
519 #ifndef _ActivityBot_EE_Pins_
520 #define _ActivityBot_EE_Pins_ 12
523 #ifndef _ActivityBot_EE_Trims_
524 #define _ActivityBot_EE_Trims_ 28
527 #ifndef _ActivityBot_EE_Left_
528 #define _ActivityBot_EE_Left_ 52
531 #ifndef _ActivityBot_EE_Right_
532 #define _ActivityBot_EE_Right_ 1052
553 #define ABD_FOR_BOTH 2
572 void monitor_start(
int monitorReps);
574 int *encoderLeds_start(
int pinLeft,
int pinRight);
598 #define AB_BACKWARD -1
601 void monitor_start(
int monitorReps);
602 void monitor_stop(
void);
609 #endif // DOXYGEN_SHOULD_SKIP_THIS
615 #if defined(__cplusplus)
void drive_encoderPins(int encPinLeft, int encPinRight)
Set encoder pins to values other than the default P14 for left encoder and P15 for right encoder....
void drive_feedback(int enabled)
Enables or disables encoder feedback for speed control.
void drive_getTicks(int *left, int *right)
Get the measured number of ticks the have traveled.
void drive_rampStep(int left, int right)
This function allows your code to ask for a speed repeatedly in a loop, but each time your code asks ...
void drive_speed(int left, int right)
Set wheel speeds in encoder ticks per second. An encoder tick is 1/64th of a revolution,...
void drive_getTicksCalc(int *left, int *right)
Get the calculated number of ticks the encoders should have traveled.
void drive_ramp(int left, int right)
This function ramps up to a given speed and blocks execution until the speed is reached....
void drive_setMaxVelocity(int forGotoOrSpeed, int ticksPerSec)
Set the maximum velocity used by either drive_goto or drive_speed.
void drive_goto(int distLeft, int distRight)
Make each wheel go a particular distance. Recommended for straight forward, backward,...
void drive_setRampStep(int stepsize)
Overrides the default 12 ticks/second per 50th of a second for ramping.
void drive_displayInterpolation(void)
Displays the interpolation table stored in EEPROM by the calibration step. For more info,...
void drive_calibrationResults(void)
Uses the calibration settings to find common circuit mistakes that prevent the ActivityBot from opera...
This library provides a collection of functions for communicating with text devices such as SimpleIDE...
void drive_setAcceleration(int forGotoOrSpeed, int ticksPerSecSq)
Set the acceleration used by either drive_goto or drive_speed.
void drive_setMaxSpeed(int speed)
Modifies the default maximum top speed for use with encoders. The default is 128 ticks/second = 2 rev...
void drive_gotoMode(int mode)
Set the mode (blocking or interruptible) of the drive_goto call. For calls in interruptible mode,...
void drive_servoPins(int servoPinLeft, int servoPinRight)
Set servo pins to values other than the default P12 for left servo and P13 for right servo....
int drive_gotoStatus(int side)
Can be used after drive_gotoMode(OFF) to check if a maneuver has been completed.
void drive_setErrorLimit(int maxDistDiffTicks)
Sets the maximum accumulated error between target and actual distance traveled.
This library supports creating and managing one or more full duplex serial connections with periphera...