vexmotor.c File Reference

Motor port driver. More...

#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "vex.h"

Functions
void	vexMotorInit ()
	Initialize the motors. More...
void	vexMotorSet (int16_t index, int16_t value)
	Set motor to speed given by value. More...
int16_t	vexMotorGet (int16_t index)
	Get the current commanded speed of a motor. More...
void	vexMotorStopAll ()
	Stop all motors. More...
void	vexMotorTypeSet (int16_t index, tVexMotorType type)
	Save motor type. More...
tVexMotorType	vexMotorTypeGet (int16_t index)
	Get motor type. More...
void	vexMotorDirectionSet (int16_t index, bool_t reversed)
	Save motor direction (reversed) flag. More...
bool_t	vexMotorDirectionGet (int16_t index)
	Get motor reversed flag. More...
void	vexMotorPositionSet (int16_t index, int32_t value)
	Set the current motor position. More...
int32_t	vexMotorPositionGet (int16_t index)
	Get the current motor position. More...
void	vexMotorPositionGetCallback (int16_t index, int32_t(*cb)(int16_t), int16_t port)
	Set the callback used to get motor position. More...
void	vexMotorPositionSetCallback (int16_t index, void(*cb)(int16_t, int32_t), int16_t port)
	Set the callback used to set motor position. More...
void	vexMotorEncoderIdCallback (int16_t index, int16_t(*cb)(int16_t), int16_t port)
	Set the callback used to get motor position. More...
int16_t	vexMotorEncoderIdGet (int16_t index)
	Get the motor encoder id. More...
void	vexMotorDebug (vexStream *chp, int argc, char *argv[])
	Command line debug of motors. More...

Detailed Description

Motor port driver.

Function Documentation

void vexMotorInit

(

void

)

Initialize the motors.

void vexMotorSet	(	int16_t	index,
		int16_t	value
	)

Set motor to speed given by value.

Parameters

[in]	index	The motor index
[in]	value	The speed of the motor (-127 to 127)

Examples:

vexdefault.c.

int16_t vexMotorGet

(

int16_t

index)

Get the current commanded speed of a motor.

Parameters

[in]

index

The motor index

Returns

The speed of the indexed motor (-127 to 127)

void vexMotorStopAll

(

void

)

Stop all motors.

void vexMotorTypeSet	(	int16_t	index,
		tVexMotorType	type
	)

Save motor type.

Parameters

[in]	index	The motor index
[in]	type	The motor type

tVexMotorType vexMotorTypeGet

(

int16_t

index)

Get motor type.

Parameters

[in]

index

The motor index

Returns

The motor type

void vexMotorDirectionSet	(	int16_t	index,
		bool_t	reversed
	)

Save motor direction (reversed) flag.

Parameters

[in]	index	The motor index
[in]	reversed	Flag indicating if the motor is reversed

Examples:

vexdefault.c.

bool_t vexMotorDirectionGet

(

int16_t

index)

Get motor reversed flag.

Parameters

[in]

index

The motor index

Returns

bool indicating if the motor is reversed

void vexMotorPositionSet	(	int16_t	index,
		int32_t	value
	)

Set the current motor position.

Parameters

[in]	index	The motor index
[in]	value	The new motor position

Examples:

clawbot.c.

int32_t vexMotorPositionGet

(

int16_t

index)

Get the current motor position.

Parameters

[in]

index

The motor index

Returns

The motor position

Examples:

clawbot.c.

void vexMotorPositionGetCallback	(	int16_t	index,
		int32_t(*)(int16_t)	cb,
		int16_t	port
	)

Set the callback used to get motor position.

Parameters

[in]	index	The motor index
[in]	cb	function used to get motor position
[in]	port	A variable to send to the callback

void vexMotorPositionSetCallback	(	int16_t	index,
		void(*)(int16_t, int32_t)	cb,
		int16_t	port
	)

Set the callback used to set motor position.

Parameters

[in]	index	The motor index
[in]	cb	function used to get motor position
[in]	port	A variable to send to the callback

void vexMotorEncoderIdCallback	(	int16_t	index,
		int16_t(*)(int16_t)	cb,
		int16_t	port
	)

Set the callback used to get motor position.

Parameters

[in]	index	The motor index
[in]	cb	function used to get motor encoder id
[in]	port	A variable to send to the callback

int16_t vexMotorEncoderIdGet

(

int16_t

index)

Get the motor encoder id.

Parameters

[in]

index

The motor index

Returns

The motor encoder id

Note

The encoder id is used to differentiate between encoder types

void vexMotorDebug	(	vexStream *	chp,
		int	argc,
		char *	argv[]
	)

Command line debug of motors.

Parameters

[in]	chp	A pointer to a vexStream object
[in]	argc	The number of command line arguments
[in]	argv	An array of pointers to the command line args