module.h

Contains functions for module driving. Depends on shifter.

Functions

void moduleAsyncDrive(shifter s, int target, int id);

• drives module at id asynchronously to target angle
• Parameters:
  • shifter s - shifter object
  • int target - target angle at the driver motor
  • int id - module locator (possible values for 90° offset: 0, 1, 2, 3)

void moduleAwaitDrive(shifter s);

• pauses thread from executing following calls until module finishes its action
• Parameters:
  • shifter s - shifter object

Macros

#define moduleDrive(s, target, id) \
    ({ moduleAsyncDrive(s, target, id); \
       moduleAwaitDrive(s); })

• drives module at id synchronously to target angle
• Parameters:
  • shifter s - shifter object
  • int target - target angle at the driver motor
  • int id - module locator (possible values for 90° offset: 0, 1, 2, 3)