Elisa3
motors.h
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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 
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