prototypes_al_pupp.h

/*************************************************
Jarvis Schultz and Marcus Hammond 

5-25-2011

This file simply contains the function prototypes/ declarations
*************************************************/
#ifndef _MOTORS

#define _MOTORS

#include <stddef.h>

/******************************************************************************
 * GLOBAL CONSTANTS ***********************************************************
 * ***************************************************************************/
#define SYS_FREQ               (80000000L)
#define TOGGLES_PER_SEC        1000
#define CORE_TICK_RATE         (SYS_FREQ/2/TOGGLES_PER_SEC)

/******************************************************************************
 * FUNCTIONS FOR MOTOR CONTROLS ***********************************************
 * ***************************************************************************/
// LEFT
void SetStepsLeft(int set_steps);
void SetSpeedLeft(float motor_speed, float dt);
float GetSpeedLeft(void);
int GetStepsLeft(void);
// RIGHT
void SetStepsRight(int set_steps);
void SetSpeedRight(float motor_speed, float dt);
float GetSpeedRight(void);
int GetStepsRight(void);
// TOP LEFT
void SetStepsTopLeft(int set_steps);
void SetSpeedTopLeft(float motor_speed, float dt);
float GetSpeedTopLeft(void);
int GetStepsTopLeft(void);
// TOP RIGHT
void SetStepsTopRight(int set_steps);
void SetSpeedTopRight(float motor_speed, float dt);
float GetSpeedTopRight(void);
int GetStepsTopRight(void);

void stop_all_motors(void);

/******************************************************************************
 * FUNCTIONS FOR INITIALIZATIONS **********************************************
 * ***************************************************************************/
void InitUART2(int pbClk);
void InitTimer2(void);
void InitTimer4(void);
void InitMotorPWM(void);
void InitMotorPins(void);
void InitEncoder(void);

/******************************************************************************
 * FUNCTIONS FOR COMMUNICATION ************************************************
 * ***************************************************************************/
void interp_command(void);
void SendDataBuffer(const char *buffer, size_t size);
float interp_number(const unsigned char *data);
int data_checker(unsigned char* buff);
void build_number(unsigned char *destination, float value, short int divisor);
void make_string(unsigned char *dest, char type,
		 float fval, float sval, float tval, int div);
void create_send_array(unsigned short id, unsigned char *DataString);

/******************************************************************************
 * FUNCTIONS FOR ROBOT CONTROL ************************************************
 * ***************************************************************************/
// GENERAL
void SetPose(float xdest, float ydest, float thdest);
void RuntimeOperation(void);
void manual_winch_runtime(void);
void reset_robot(void);
void puppeteer_shutdown(void);
// Functions for kinematic controller:
void run_fifo(const float new_val, float *array, const unsigned int size);
void calculate_controller_gains(void);
int calculate_feedforward_values(const float k);
void setup_controller(void);
void run_controller(void);
void setup_winch_controller(void);
void run_winch_controller(int recalc);
void check_safety(void);

/******************************************************************************
 * MISCELLANEOUS FUNCTIONS ****************************************************
 * ***************************************************************************/
float find_min(float a, float b);
void delay(void);
float clamp_angle(float th);
float find_min_angle(float a, float b);
float sign(float x);


#endif