Elisa3
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00001 00002 #ifndef MOTORS_H 00003 #define MOTORS_H 00004 00005 00025 #include "variables.h" 00026 #include <avr\io.h> 00027 #include <avr\interrupt.h> 00028 #include "behaviors.h" 00029 #include "speed_control.h" 00030 #include "utility.h" 00031 #include "eepromIO.h" 00032 00033 00034 #ifdef __cplusplus 00035 extern "C" { 00036 #endif 00037 00042 void initMotors(); 00043 00049 void handleMotorsWithSpeedController(); 00050 00056 void handleMotorsWithNoController(); 00057 00063 void setLeftSpeed(signed char vel); 00064 00070 void setRightSpeed(signed char vel); 00071 00072 00073 void handleCalibration(); 00074 void updateOdomData(); 00075 void initCalibration(); 00076 signed int getInputFromSpeed(signed int s, unsigned char mode); 00077 signed int cast_speed(signed int vel); 00078 void getLeftSpeedFromInput(); 00079 void getRightSpeedFromInput(); 00080 void writeDefaultCalibration(); 00081 00082 00083 #ifdef __cplusplus 00084 } // extern "C" 00085 #endif 00086 00087 #endif 00088