base.h

Contains basic functions to control dual-motor robot with a gyroscopic sensor.

base type

The struct type for dual-motor robot base is defined as

typedef struct Base
{
    motor  lmotor, rmotor;
    sensor gyro;
}
base;

consisting of left and right motors (lmotor and rmotor respectively), and a gyroscopic sensor (gyro) fields. These are all defined in src/drivers/.

Constructor

The constructor for base is defined as

base baseNew(char lport, char rport, char gyroport);

taking three ports in a character format, each corresponding to the designated motor/sensor.

For example, if the robot has its

• left motor connected port A,
• right motor connected port D,
• gyro sensor connected port 1,

the corresponding base would be constructed using

base foo;
foo = baseNew('A', 'D', '1');

Functions

Dependent on base

void baseResetGyro(base b);

• resets the gyroscope, defined on base b
• Parameters:
  • base b - base object

void baseRunTank(base b, int lspeed, int rspeed);

• sets individual speeds of the motors, defined on base b
• Parameters:
  • base b - base object
  • int lspeed - left motor speed
  • int rspeed - right motor speed

void baseRunSteering(base b, double speed, double x, int direction);

• compound control of motor speeds using steering parameter
• Parameters:
  • base b - base object
  • double speed - maximum motor speed
  • double x - steering parameter, modifies the motor speed ration
  • int direction - FWD for forwards movement, BWD for backwards movement (FWD and BWD are defined in move.h. When using only base.h, 1 and -1 respectively can be used instead)

void baseStop(base b);

• stops motors, defined on base b
• Parameters:
  • base b - base object

Independent of base

double timeSeconds(void);

• measures time in seconds with a nanosecond precision
• Parameters: N/A