Motor port driver, macros and prototypes. More...

Data Structures
struct	_vexMotor
	Holds data for a motor. More...

Macros
#define	kVexMotorNormal FALSE
	Motor command causes normal movement. More...

#define	kVexMotorReversed TRUE
	Motor command causes reversed movement. More...

Typedefs
typedef struct _vexMotor	vexMotor
	Holds data for a motor. More...

Enumerations
enum	tVexMotorType { kVexMotorUndefined = 0, kVexMotor269, kVexMotor393T, kVexMotor393S }
	Motor types. More...

enum	tVexMotor { kVexMotor_None = -1, kVexMotor_1 = 0, kVexMotor_2 = 1, kVexMotor_3 = 2, kVexMotor_4 = 3, kVexMotor_5 = 4, kVexMotor_6 = 5, kVexMotor_7 = 6, kVexMotor_8 = 7, kVexMotor_9 = 8, kVexMotor_10 = 9, kVexMotorNum }
	Motor port numbers. More...

Functions
void	vexMotorInit (void)
	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 (void)
	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	vexMotorDebug (vexStream chp, int argc, char argv[])
	Command line debug of motors. 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...

Detailed Description

Motor port driver, macros and prototypes.

Macro Definition Documentation

#define kVexMotorNormal FALSE

Motor command causes normal movement.

Examples:: clawbot.c, vexdefault.c, and vexuser.c.

#define kVexMotorReversed TRUE

Motor command causes reversed movement.

Examples:: clawbot.c, and vexdefault.c.

Typedef Documentation

typedef struct _vexMotor vexMotor

Holds data for a motor.

Enumeration Type Documentation

enum tVexMotorType

Motor types.

Enumerator
kVexMotorUndefined
kVexMotor269
kVexMotor393T
kVexMotor393S

enum tVexMotor

Motor port numbers.

Enumerator
kVexMotor_None
kVexMotor_1
kVexMotor_2
kVexMotor_3
kVexMotor_4
kVexMotor_5
kVexMotor_6
kVexMotor_7
kVexMotor_8
kVexMotor_9
kVexMotor_10
kVexMotorNum

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)

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

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 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

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

int32_t vexMotorPositionGet ( int16_t index)

Get the current motor position.

Parameters

[in] index The motor index

Returns: The motor position

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

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation