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Drivemotorservice H

This document contains function prototypes and documentation for a motor service library. It includes functions to initialize the service, run the service event loop, set new RPM commands for right and left wheels, get the commanded RPM values, stop the motors, and reset sum error. The functions operate on motor control through hardware interfaces like GPIO and PWM.

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147 views

Drivemotorservice H

This document contains function prototypes and documentation for a motor service library. It includes functions to initialize the service, run the service event loop, set new RPM commands for right and left wheels, get the commanded RPM values, stop the motors, and reset sum error. The functions operate on motor control through hardware interfaces like GPIO and PWM.

Uploaded by

api-272643960
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as RTF, PDF, TXT or read online on Scribd
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#ifndef MotorService_H

#define MotorService_H
#include "ES_Types.h"
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include

"ES_Configure.h"
"ES_Timers.h"
"ES_Framework.h"
"ES_Types.h"
"ES_Events.h"
"inc/hw_memmap.h"
"inc/hw_gpio.h"
"inc/hw_pwm.h"
"inc/hw_sysctl.h"
"inc/hw_types.h"

// Public Function Prototypes


bool InitDriveMotorService ( void );
//bool PostDriveMotorService( ES_Event ThisEvent );
ES_Event RunDriveMotorService( ES_Event ThisEvent );
/*
NewRPMCommandRight
Takes an int as a parameter in RPM. Negative RPM spins wheel backward, positive
spins forward
RPMs are usually between -50 and 50
Returns nothing
*/
void NewRPMCommandRight(int NewRPM);
/*
NewRPMCommandLeft
Takes an int as a parameter in RPM. Negative RPM spins wheel backward, positive
spins forward
RPMs are usually between -50 and 50
Returns nothing
*/
void NewRPMCommandLeft(int NewRPM);
/*
GetRPMComR
Takes no parameter. Returns the Commanded RPM to the right wheel
*/
int GetRPMComR( void );
/*
GetRPMComR
Takes no parameter. Returns the Commanded RPM to the left wheel
*/
int GetRPMComL( void );
void StopMotors(void);
void ResetSumError(void);
#endif /* MotorService_H */

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