motor.h File Reference

API for motors. More...

#include <pbio/port.h>
#include <pbio/servo.h>

Go to the source code of this file.

Typedefs
typedef pbio_servo_t	pup_motor_t

Enumerations
enum	pup_direction_t { PUP_DIRECTION_CLOCKWISE = PBIO_DIRECTION_CLOCKWISE , PUP_DIRECTION_COUNTERCLOCKWISE = PBIO_DIRECTION_COUNTERCLOCKWISE }

Functions
pup_motor_t *	pup_motor_get_device (pbio_port_id_t port)
	Get the PUP motor device pointer of the motor specified by the port ID. More...
pbio_error_t	pup_motor_setup (pup_motor_t *motor, pup_direction_t positive_direction, bool reset_count)
	Setup the PUP motor with the specified direction, possibly resetting the encoder. More...
pbio_error_t	pup_motor_reset_count (pup_motor_t *motor)
	Reset the motor encoder. More...
int32_t	pup_motor_get_count (pup_motor_t *motor)
	Get the encoder value of the motor. More...
int32_t	pup_motor_get_speed (pup_motor_t *motor)
	Get the speed of rotation of the motor. More...
pbio_error_t	pup_motor_set_speed (pup_motor_t *motor, int speed)
	Set the speed of rotation of the motor. More...
int32_t	pup_motor_get_power (pup_motor_t *motor)
	Get the power of the motor. More...
pbio_error_t	pup_motor_set_power (pup_motor_t *motor, int power)
	Set the power of the motor. More...
pbio_error_t	pup_motor_stop (pup_motor_t *motor)
	Stop the motor in coast mode. More...
pbio_error_t	pup_motor_brake (pup_motor_t *motor)
	Stop the motor in brake mode. More...
pbio_error_t	pup_motor_hold (pup_motor_t *motor)
	Stop the motor and hold it. More...
bool	pup_motor_is_stalled (pup_motor_t *motor)
	Check if the motor is stalled. More...
int32_t	pup_motor_set_duty_limit (pup_motor_t *motor, int duty_limit)
	Lower the duty limit of the motor. \detail To restore the limit, call pup_motor_restore_duty_limit with the value returned as its argument. More...
void	pup_motor_restore_duty_limit (pup_motor_t *motor, int old_value)
	Restore the duty limit of the motor. More...

Detailed Description

API for motors.

Author

Makoto Shimojima