abdrive.h

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//#define _monitor_
 
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
#ifndef ABDRIVE_H
#define ABDRIVE_H
//#endif
 
#if defined(__cplusplus)
extern "C" {
#endif
 
#include "simpletools.h"
#include "simpletext.h"
#include "fdserial.h"
#ifndef ABD_RAMP_STEP 
 
#define ABD_RAMP_STEP 12
#endif
 
 
#ifndef ABD_SPEED_LIMIT
 
#define ABD_SPEED_LIMIT 128
#endif
 
 
#ifndef ABD_GOTO_SPEED_LIMIT
 
#define ABD_GOTO_SPEED_LIMIT 64
#endif
 
 
#ifndef ABD_GOTO_RAMP_STEP
 
#define ABD_GOTO_RAMP_STEP 4
#endif
 
 
#ifndef ABD_NUDGE_SPEED 
 
#define ABD_NUDGE_SPEED 4
#endif
 
 
#ifndef ABD_STOP_50ths 
 
#define ABD_STOP_50ths 5
#endif
 
 
 
 
#ifndef _ActivityBot_EE_Start_
 
#define _ActivityBot_EE_Start_ 63418
#endif
 
 
#ifndef _ActivityBot_EE_End_
 
#define _ActivityBot_EE_End_ 63418 + 2052
#endif
 
 
#ifndef FOR_GOTO
 
#define FOR_GOTO 1
#endif
 
 
#ifndef FOR_SPEED
 
#define FOR_SPEED 0
#endif
 
 
#ifndef OFF
 
#define OFF 0
#endif
 
#ifndef ON
 
#define ON  1
#endif
 
 
#ifndef SIDE_LEFT
 
#define SIDE_LEFT 0
#endif
 
 
#ifndef SIDE_RIGHT
 
#define SIDE_RIGHT 1
#endif
 
 
#ifndef SIDE_BOTH
 
#define SIDE_BOTH 2
#endif
 
 
 
void drive_goto(int distLeft, int distRight);
 
 
 
void drive_speed(int left, int right); 
 
 
void drive_getTicks(int *left, int *right);
 
 
void drive_calibrationResults(void);
 
 
 
void drive_displayInterpolation(void);
 
 
void drive_getTicksCalc(int *left, int *right);
 
 
int drive_gotoStatus(int side);
 
 
void drive_encoderPins(int encPinLeft, int encPinRight);
 
 
void drive_feedback(int enabled);                      
 
 
void drive_gotoMode(int mode);
 
 
void drive_servoPins(int servoPinLeft, int servoPinRight);
 
 
void drive_setAcceleration(int forGotoOrSpeed, int ticksPerSecSq);
 
 
void drive_setErrorLimit(int maxDistDiffTicks);
 
 
void drive_setMaxSpeed(int speed);
 
 
void drive_setMaxVelocity(int forGotoOrSpeed, int ticksPerSec);
 
 
 
void drive_setRampStep(int stepsize);
 
 
void drive_rampStep(int left, int right);
 
void drive_ramp(int left, int right);
 
/*
  void drive_getSpeedCalc(int *left, int *right);
  void drive_getSpeedActual(int *left, int *right);
*/
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
/* =========================================================================== */
//                        PRIVATE FUNCTIONS/MACROS
/* =========================================================================== */
 
#ifndef _ActivityBot_EE_Pins_
#define _ActivityBot_EE_Pins_ 12
#endif
 
#ifndef _ActivityBot_EE_Trims_
#define _ActivityBot_EE_Trims_ 28
#endif
 
#ifndef _ActivityBot_EE_Left_
#define _ActivityBot_EE_Left_ 52
#endif
 
#ifndef _ActivityBot_EE_Right_
#define _ActivityBot_EE_Right_ 1052
#endif
 
#ifndef ABD_L 
#define ABD_L 0
#endif
 
#ifndef ABD_R 
#define ABD_R 1
#endif
 
#ifndef ABD_B 
#define ABD_B 2
#endif
 
#ifndef ABD_T 
#define ABD_T 3
#endif
 
 
#ifndef ABD_FOR_BOTH
#define ABD_FOR_BOTH 2
#endif
 
#ifndef AB_RIGHT  
#define AB_RIGHT  1
#endif
 
#ifndef AB_LEFT
#define AB_LEFT -1
#endif
 
/*
 #ifndef interactive_development_mode
 #define interactive_development_mode
 void display_control_sys(int start, int end);
 #endif
*/
 
#ifdef _monitor_
void monitor_start(int monitorReps);
void monitor_stop();
int *encoderLeds_start(int pinLeft, int pinRight);
#endif
 
#ifndef AB_RIGHT  
#define AB_RIGHT  1
#endif
 
#ifndef AB_LEFT
#define AB_LEFT -1
#endif
 
#ifndef AB_FORWARD
 
#define AB_FORWARD 1
#endif
 
#ifndef AB_BACKWARD
 
#define AB_BACKWARD -1
#endif
 
void monitor_start(int monitorReps);
void monitor_stop(void);
 
 
#endif // DOXYGEN_SHOULD_SKIP_THIS
 
 
 
 
 
#if defined(__cplusplus)
}
#endif
/* __cplusplus */  
#endif
/* ABDRIVE_H */