motor.h

 
#ifndef MBOT_MOTOR_H
#define MBOT_MOTOR_H
 
#include <mbot/defs/mbot_pins.h>
 
#define PWM_SLICES 8
static uint16_t slice_frequencies[PWM_SLICES] = {0};
static uint16_t pwm_wraps[PWM_SLICES] = {0};
 
typedef enum mbot_motor_state {OFF, ON} mbot_motor_state;
 
// motor pin table
typedef enum mbot_motor_pins {
    M0_EN = M0_PWM_PIN,
    M0_PH = M0_DIR_PIN,
    M1_EN = M1_PWM_PIN,
    M1_PH = M1_DIR_PIN,
    M2_EN = M2_PWM_PIN,
    M2_PH = M2_DIR_PIN,
    M3_EN = M3_PWM_PIN,
    M3_PH = M3_DIR_PIN
} mbot_motor_pins;
 
// lookup table for motor 0-3
static uint16_t motor_en[4] = {M0_EN, M1_EN, M2_EN, M3_EN}; //PWM
static uint16_t motor_ph[4] = {M0_PH, M1_PH, M2_PH, M3_PH}; //DIR
 
int mbot_motor_init_freq(uint8_t ch, uint16_t freq);
 
void mbot_motor_adc_init();
 
int mbot_motor_init(uint8_t ch);
 
int mbot_motor_cleanup(uint8_t ch);
 
//int mbot_motor_set_duty_int16(uint8_t ch, int32_t duty);
 
int mbot_motor_set_duty(uint8_t ch, float duty);
 
float mbot_motor_read_voltage();
 
// These would require PMODE=HIGH on DRV8874
// int mbot_motor_free_spin(uint8_t motor_num);
// int mbot_motor_brake(uint8_t motor_num);
 
#endif /* MBOT_MOTOR_H */