motor.h

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// SPDX-License-Identifier: MIT
/*
 * API for motors
 *
 * Copyright (c) 2022 Embedded and Real-Time Systems Laboratory,
 *                    Graduate School of Information Science, Nagoya Univ., JAPAN
 */
 
#ifndef _PUP_MOTOR_H_
#define _PUP_MOTOR_H_
 
#include <pbio/port.h>
#include <pbio/servo.h>
 
typedef pbio_servo_t pup_motor_t;
typedef enum {
  PUP_DIRECTION_CLOCKWISE        = PBIO_DIRECTION_CLOCKWISE,
  PUP_DIRECTION_COUNTERCLOCKWISE = PBIO_DIRECTION_COUNTERCLOCKWISE,
} pup_direction_t;
 
pup_motor_t *pup_motor_get_device(pbio_port_id_t port);
 
pbio_error_t pup_motor_setup(pup_motor_t *motor, pup_direction_t positive_direction, bool reset_count);
 
pbio_error_t pup_motor_reset_count(pup_motor_t *motor);
 
int32_t pup_motor_get_count(pup_motor_t *motor);
 
int32_t pup_motor_get_speed(pup_motor_t *motor);
 
pbio_error_t pup_motor_set_speed(pup_motor_t *motor, int speed);
 
int32_t pup_motor_get_power(pup_motor_t *motor);
 
pbio_error_t pup_motor_set_power(pup_motor_t *motor, int power);
 
pbio_error_t pup_motor_stop(pup_motor_t *motor);
 
pbio_error_t pup_motor_brake(pup_motor_t *motor);
 
pbio_error_t pup_motor_hold(pup_motor_t *motor);
 
bool pup_motor_is_stalled(pup_motor_t *motor);
 
int32_t pup_motor_set_duty_limit(pup_motor_t *motor, int duty_limit);
 
void pup_motor_restore_duty_limit(pup_motor_t *motor, int old_value);
 
#endif // _PUP_MOTOR_H_