00001 // Copyright (C) 2004-2008, Robotics Equipment Corporation GmbH 00002 00003 #ifndef _REC_ROBOTINO_COM_C_MOTOR_H_ 00004 #define _REC_ROBOTINO_COM_C_MOTOR_H_ 00005 00006 #include "rec/robotino/com/c/globals.h" 00007 #include "rec/robotino/com/c/Com.h" 00008 00016 typedef int MotorId; 00017 00018 #define INVALID_MOTORID -1 00019 00025 DLLEXPORT MotorId Motor_construct( unsigned int number ); 00026 00032 DLLEXPORT BOOL Motor_destroy( MotorId id ); 00033 00038 DLLEXPORT BOOL Motor_setComId( MotorId id, ComId comId ); 00039 00047 DLLEXPORT BOOL Motor_setMotorNumber( MotorId id, unsigned int number ); 00048 00052 DLLEXPORT unsigned int numMotors(); 00053 00060 DLLEXPORT BOOL Motor_setSetPointSpeed( MotorId id, float speed ); 00061 00067 DLLEXPORT BOOL Motor_resetPosition( MotorId id ); 00068 00075 DLLEXPORT BOOL Motor_setBrake( MotorId id, BOOL brake ); 00076 00085 DLLEXPORT BOOL Motor_setPID( MotorId id, unsigned char kp, unsigned char ki, unsigned char kd ); 00086 00093 DLLEXPORT float Motor_actualSpeed( MotorId id ); 00094 00100 DLLEXPORT int Motor_actualPosition( MotorId id ); 00101 00107 DLLEXPORT float Motor_motorCurrent( MotorId id ); 00108 00114 DLLEXPORT float Motor_rawCurrentMeasurment( MotorId id ); 00115 00116 #endif //_REC_ROBOTINO_COM_C_MOTOR_H_