Elisa3
|
#include "motors.h"
Functions | |
void | initMotors () |
Configure the timer3 and timer4 registers to work at about 122 Hz. | |
signed int | cast_speed (signed int vel) |
void | handleMotorsWithNoController () |
Change the motors speed (pwm registers) accordingly to the obstacle avoidance (if enabled) and speed controller. In this function both the motors velocities measurements are also updated. | |
void | handleMotorsWithSpeedController () |
Change the motors speed (pwm registers) accordingly to the obstacle avoidance (if enabled). In this function both the motors velocities measurements are also updated (even if not needed). | |
void | setLeftSpeed (signed char vel) |
Set the desired speed for the left motor. | |
void | setRightSpeed (signed char vel) |
Set the desired speed for the right motor. | |
void | handleCalibration () |
void | updateOdomData () |
signed int | getInputFromSpeed (signed int s, unsigned char mode) |
void | getRightSpeedFromInput () |
void | getLeftSpeedFromInput () |
void | writeDefaultCalibration () |
void | initCalibration () |
ISR (TIMER4_OVF_vect) | |
ISR (TIMER4_COMPA_vect) | |
ISR (TIMER4_COMPB_vect) | |
ISR (TIMER3_OVF_vect) | |
ISR (TIMER3_COMPA_vect) | |
ISR (TIMER3_COMPB_vect) |
signed int cast_speed | ( | signed int | vel | ) |
signed int getInputFromSpeed | ( | signed int | s, |
unsigned char | mode | ||
) |
void getLeftSpeedFromInput | ( | ) |
void getRightSpeedFromInput | ( | ) |
void handleCalibration | ( | ) |
void handleMotorsWithNoController | ( | ) |
Change the motors speed (pwm registers) accordingly to the obstacle avoidance (if enabled) and speed controller. In this function both the motors velocities measurements are also updated.
void handleMotorsWithSpeedController | ( | ) |
Change the motors speed (pwm registers) accordingly to the obstacle avoidance (if enabled). In this function both the motors velocities measurements are also updated (even if not needed).
void initCalibration | ( | ) |
void initMotors | ( | ) |
Configure the timer3 and timer4 registers to work at about 122 Hz.
ISR | ( | TIMER4_OVF_vect | ) |
ISR | ( | TIMER4_COMPA_vect | ) |
ISR | ( | TIMER4_COMPB_vect | ) |
ISR | ( | TIMER3_OVF_vect | ) |
ISR | ( | TIMER3_COMPA_vect | ) |
ISR | ( | TIMER3_COMPB_vect | ) |
void setLeftSpeed | ( | signed char | vel | ) |
Set the desired speed for the left motor.
vel | desired velocity to set (from -100 to 100) |
void setRightSpeed | ( | signed char | vel | ) |
Set the desired speed for the right motor.
vel | desired velocity to set (from -100 to 100) |
void updateOdomData | ( | ) |
void writeDefaultCalibration | ( | ) |