Functions which handle the motors. More...

Modules
	Advanced informations

Enumerations
enum	eMotorSetMask
	clusters bit masks for writing data to the motors More...

enum	eMotorGet
	clusters select values for reading data from the motors More...

Request Funktions
void	motors_request (eRequestType request)
	Requests new data from the motors. More...

uint8_t	motors_received (void)
	Indicates if new data for the data block sMD_Motor was received. More...

uint8_t	motors_changed (void)
	Indicates if new data changed the data block sMD_Motor. More...

uint8_t	motors_transmitted (void)
	Indicates if the data block sMD_Mode was transmitted. More...

Access Funktions
int8_t	motors_get (eMotorGet select)
	Returns the last stored power of the selected motor. More...

void	motors_set (eMotorSetMask select, int8_t power)
	Sets the motor power of the selected motor(s). More...

Detailed Description

Functions which handle the motors.

The motors are part of the driving module. All actions, like setting their power level or reading it back, involve internal TWI communication. This may take some milliseconds (delay time).

example

/*******************************************************************************
* examples/motorSimple.c                                                       *
* ======================                                                       *
*                                                                              *
* Version: 1.0.5                                                               *
* Date   : 07.11.17                                                            *
* Author : Peter Weissig                                                       *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testMotor(void);
int main(void);
 
//*********************************[testMotor]**********************************
void testMotor(void) {
 
    int8_t speed = 0;
 
    lcdclr();
    lcdstr_p(PSTR("Motor      ####%"));
    lcdxy(0,1);
    lcdstr_p(PSTR("####mA    ####mA"));
 
    mode_set(kModeStudent);
    currents_request(kRequestContinuous);
 
    while (1) {
 
        if (buttons_get(kButtonMiddle)) {
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            if (speed > -100) {
                speed-= 5;
 
                lcdxy(11,0);
                int16tostr(lcdout,speed , 4);
 
                motors_set(kMotorSetAll,speed);
            }
        } else if (buttons_get(kButtonRight)) {
            leds_set(kLedRight , kLedOn );
            mdelay(100);
            leds_set(kLedRight , kLedOff);
 
            if (speed < 100) {
                speed+= 5;
 
                lcdxy(11,0);
                int16tostr(lcdout,speed , 4);
 
                motors_set(kMotorSetAll,speed);
            }
        }
 
        if (currents_changed()) {
            lcdxy( 0,1); int16tostr(lcdout,currents_get(kCurrentGetLeft ) ,4);
            lcdxy(10,1); int16tostr(lcdout,currents_get(kCurrentGetRight) ,4);
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testMotor();
 
    return (0);
}

Enumeration Type Documentation

◆ eMotorGet

enum eMotorGet

clusters select values for reading data from the motors

See also: motors_get() and eMotorSetMask

Enumerator
kMotorGetLeft	constant (kMotorSetLeft): left motor
kMotorGetRight	constant (kMotorSetRight): right motor

◆ eMotorSetMask

enum eMotorSetMask

clusters bit masks for writing data to the motors

See also: motors_set() and eMotorGet

Enumerator
kMotorSetLeft	bit mask (0x01): left motor
kMotorSetRight	bit mask (0x02): right motor
kMotorSetAll	bit mask (0x03): both motors

Function Documentation

◆ motors_changed()

uint8_t motors_changed ( void )

Indicates if new data changed the data block sMD_Motor.

The return value is boolean.

Returns: 8-bit unsigned integer which is a boolean value

See also: motors_received(), motors_request() and motors_get()

◆ motors_get()

int8_t motors_get ( eMotorGet select )

Returns the last stored power of the selected motor.

This function relies on the internal data block sMD_Motor - for new data use motors_request().

Parameters

select value of the selected motor - see also eMotorGet

Returns: 8-bit integer (-100..100)
The motor power is measured in %.
Negative values relate to a motor turning backwards.

See also: motors_request() and motors_set()

Examples: motorComplex.c.

◆ motors_received()

uint8_t motors_received ( void )

Indicates if new data for the data block sMD_Motor was received.

The return value is boolean.

Returns: 8-bit unsigned integer which is a boolean value

See also: motors_changed(), motors_request() and motors_get()

Examples: motorComplex.c.

◆ motors_request()

void motors_request ( eRequestType request )

Requests new data from the motors.

For details on the request schema see The general request.

Involved data blocks are:
sMD_Motor

Parameters

request See also eRequestType

See also: motors_get()

Examples: motorComplex.c.

◆ motors_set()

void motors_set	(	eMotorSetMask	select,
		int8_t	power
	)

Sets the motor power of the selected motor(s).

This function changes the internal data block sMD_Motor.

Parameters

select	value of the selected motor(s) - see also eMotorSetMask
power	8-bit integer (-100..100) The motor power is measured in %. Negative values relate to a motor turning backwards.