|
PropWare
3.0.0.229
C++ objects and CMake build system for Parallax Propeller
|
9 #if defined(__cplusplus)
19 #define ARD_DEFAULT_SERVO_L 12
20 #define ARD_DEFAULT_SERVO_R 13
21 #define ARD_DEFAULT_SPEEDLIMIT 200
22 #define ARD_DEFAULT_ACCEL_LIMIT 512
23 #define ARD_DEFAULT_DONE_REPS 16
24 #define ARD_DEFAULT_RAMPSTEP 25 //
25 #define ARD_DEFAULT_INCREMENT 1
26 #define ARD_DEFAULT_FEEDBACK 1
28 #define ARD_DEFAULT_DEADZONE 1
30 #define ARD_DEFAULT_GOTOBLOCK 1
31 #define ARD_DEFAULT_RAMP_INTERVAL 20
33 #define ARD_DEFAULT_OFFSET 0
34 #define ARD_DEFAULT_CYCLES 0
35 #define ARD_DEFAULT_TRAMPSTEPPREV 0
36 #define ARD_DEFAULT_INITSPEED 0
37 #define ARD_DEFAULT_MODE 0
38 #define ARD_DEFAULT_OPENED 0
39 #define ARD_DEFAULT_RAMPMODE 0
40 #define ARD_DEFAULT_BLOCKSPEED 0
41 #define ARD_DEFAULT_BLOCKSPEEDPREV 0
43 #define ARD_MODE_VERBOSE 1
44 #define ARD_MODE_CONCISE 0
45 #define ARD_DEFAULT_REPLYMODE ARD_MODE_VERBOSE
48 void drive_close(
void);
56 char *drive_getSpeed(
int *left,
int *right);
58 char *drive_clearTicks(
void);
63 void drive_gotoDoneDelay(
int msTillDoneApprox);
64 void drive_speedBlocking(
int enabled);
66 void dhb10_terminal(
fdserial *fdterm);
67 char *dhb10_com(
char *configStr);
73 #if defined(__cplusplus)
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_ramp(int left, int right)
This function ramps up to a given speed and blocks execution until the speed is reached....
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_setMaxSpeed(int speed)
Modifies the default maximum top speed for use with encoders. The default is 128 ticks/second = 2 rev...
Structure that contains data used by simple text device libraries.
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....
This library supports creating and managing one or more full duplex serial connections with periphera...