motors.h

/* University of York Robotics Laboratory PsiSwarm Library: Motor Functions Header File
 *
 * Copyright 2016 University of York
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and limitations under the License.
 *
 * File: motors.h
 *
 * (C) Dept. Electronics & Computer Science, University of York
 * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
 *
 * PsiSwarm Library Version: 0.8
 *
 * October 2016
 *
 *
 */

#ifndef MOTORS_H
#define MOTORS_H

class Motors
{
public:

    void set_left_motor_speed(float speed);

    void set_right_motor_speed(float speed);

    void brake_left_motor(void);

    void brake_right_motor(void);

    void brake(void);

    void stop(void);

    void forward(float speed);

    void backward(float speed);

    void turn(float speed);

    void init_motors(void);

    // New time based functions (added in library v0.3)

    void time_based_forward(float speed, int microseconds, char brake);

    void time_based_turn(float speed, int microseconds, char brake);

    int time_based_turn_degrees(float speed, float degrees, char brake);
    float get_maximum_turn_angle(int microseconds);
    int get_time_based_turn_time(float speed, float degrees);

private:
    void IF_check_time_for_existing_time_based_action();
    void IF_end_time_based_action();
    void IF_update_motors();
    float IF_calibrated_left_speed(float speed);
    float IF_calibrated_right_speed(float speed);
    float IF_calibrated_speed(float speed);

};
#endif