example_input.h

//*****************************************************************************
//
// motor - Software PWM drivers for the TLE5205-2
// 
// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE AUTHORS OF THIS FILE
// SHALL NOT, UNDER ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
// OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
// 
// This is part of RASLib Rev0 of the RASWare2013 package.
//
// Written by: 
// The student branch of the 
// IEEE - Robotics and Automation Society 
// at the University of Texas at Austin
//
// Website: ras.ece.utexas.edu
// Contact: ut.ieee.ras@gmail.com
//
//*****************************************************************************

#ifndef _R_MOTOR_H_
#define _R_MOTOR_H_

#include "gpio.h"

#ifdef __cplusplus
extern "C" {
#endif


// Definition of struct Motor in motor.c
typedef struct Motor tMotor;

/**
 * Initializes a motor on a pair of pins
 * @param a Pin that should plug into the IN1 motor line
 * @param b Pin that should plug into the IN2 motor line
 * @param brake Flag to enable breaking when the motor is set to 0 speed
 * @param invert Flag to switch the direction that the motor will turn
 * @return Pointer to an initialized tMotor, can be used by the SetMotor function
 */
tMotor *InitializeMotor(tPin a, tPin b, tBoolean brake, tBoolean invert);

// This function sets a motor speed
/**
 * Sets a motor speed
 * @param mtr Pointer to an initialized tMotor, returned by InitializeMotor
 * @param speed Float on range [-1, 1] where -1 means maximum backward speed and 1 means maximum forward speed
 */
void SetMotor(tMotor *mtr, float speed);


#ifdef __cplusplus
}
#endif

#endif // _R_MOTOR_H_