abdrive360.h

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#ifndef ABDRIVE360_H
#define ABDRIVE360_H

#if defined(__cplusplus)
extern "C" {
#endif


#include "simpletools.h"  
#include "servo360.h"


#ifndef DOXYGEN_SHOULD_SKIP_THIS

#ifndef ABD360_GOTO_BUSY 
#define ABD360_GOTO_BUSY 1
#endif

#ifndef ABD360_GOTO_CLEAR 
#define ABD360_GOTO_CLEAR 0
#endif

#ifndef ABD360_GOTO_BLOCK 
#define ABD360_GOTO_BLOCK 0
#endif

#ifndef ABD360_GOTO_SET_FORGET 
#define ABD360_GOTO_SET_FORGET 1
#endif

#ifndef AB360_NEITHER 
#define AB360_NEITHER 0
#endif

#ifndef AB360_LEFT 
#define AB360_LEFT 1
#endif

#ifndef AB360_RIGHT 
#define AB360_RIGHT 2
#endif

#ifndef FOR_GOTO 
#define FOR_GOTO 1
#endif

#ifndef FOR_SPEED 
#define FOR_SPEED 0
#endif

#ifndef OFF 
#define OFF 0
#endif

#ifndef ON  
#define ON  1
#endif

#ifndef SIDE_LEFT 
#define SIDE_LEFT 0
#endif

#ifndef SIDE_RIGHT 
#define SIDE_RIGHT 1
#endif

#ifndef SIDE_BOTH 
#define SIDE_BOTH 2
#endif

#ifndef ABD60_PIN_CTRL_L 
#define ABD60_PIN_CTRL_L 12
#endif

#ifndef ABD60_PIN_FB_L 
#define ABD60_PIN_FB_L 14
#endif

#ifndef ABD360_PIN_CTRL_R 
#define ABD360_PIN_CTRL_R 13
#endif

#ifndef ABD360_PIN_FB_R 
#define ABD360_PIN_FB_R 15
#endif

#ifndef ABD360_UNITS_REV 
#define ABD360_UNITS_REV 64
#endif

#ifndef ABD_RAMP_STEP 
#define ABD_RAMP_STEP 12
#endif

#ifndef ABD_SPEED_LIMIT 
#define ABD_SPEED_LIMIT 128
#endif

#ifndef ABD_GOTO_SPEED_LIMIT 
#define ABD_GOTO_SPEED_LIMIT 64
#endif

#ifndef ABD_GOTO_RAMP_STEP 
#define ABD_GOTO_RAMP_STEP 8
#endif


//#define ABD_NUDGE_SPEED 4
//#define ABD_STOP_50ths 5

#ifndef _AB360_EE_Start_
#define _AB360_EE_Start_ 63418
#endif

#ifndef _AB360_EE_Pins_
#define _AB360_EE_Pins_ 12
#endif

// y = mx + b for transfer function separated into above (ccw) and below (cw)
// zero speed deadband pulse width.  m sets slope, b sets transition pulse
// width from zero speed to motion.  If not found in EEPROM, default values
// from servo360 library are used.

#ifndef _AB360_EE_mVccwL_
#define _AB360_EE_mVccwL_ 28
#endif

#ifndef _AB360_EE_bVccwL_
#define _AB360_EE_bVccwL_ 32
#endif

#ifndef _AB360_EE_mVcwL_
#define _AB360_EE_mVcwL_ 36
#endif

#ifndef _AB360_EE_bVcwL_
#define _AB360_EE_bVcwL_ 40
#endif

#ifndef _AB360_EE_mVccwR_
#define _AB360_EE_mVccwR_ 44
#endif

#ifndef _AB360_EE_bVccwR_
#define _AB360_EE_bVccwR_ 48
#endif

#ifndef _AB360_EE_mVcwR_
#define _AB360_EE_mVcwR_ 52
#endif

#ifndef _AB360_EE_bVcwR_
#define _AB360_EE_bVcwR_ 56
#endif

#ifndef _AB360_EE_End_
#define _AB360_EE_End_ _AB360_EE_Start_ + 60
#endif


extern volatile int abd360_initialized;

extern volatile int abd360_unitsPerRev;

extern volatile int abd360_pinCtrlLeft;
extern volatile int abd360_pinCtrlRight;
extern volatile int abd360_pinFbLeft;
extern volatile int abd360_pinFbRight;

extern volatile int abd360_speedLimit;
extern volatile int abd360_rampStep;
extern volatile int abd360_setRampStep;
extern volatile int abd360_speedLimitGoto;
extern volatile int abd360_rampStepGoto;

extern volatile int abd360_gotoMode;


void drive_init(void);
void drive360_ticksPerRev(int units);



#endif // DOXYGEN_SHOULD_SKIP_THIS



void drive_speed(int left, int right); 


void drive_goto(int distLeft, int distRight);


void drive_getTicks(int *left, int *right);


void drive_getTicksCalc(int *left, int *right);



void drive_servoPins(int controlPinLeft, int controlPinRight);


void drive_encoderPins(int encPinLeft, int encPinRight);


void drive_setMaxVelocity(int forGotoOrSpeed, int ticksPerSec);


void drive_setAcceleration(int forGotoOrSpeed, int ticksPerSecSq);


void drive_gotoMode(int mode);


int drive_gotoStatus(int side);



void drive_feedback(int enabled); 


void drive_suppress_eeprom(int state);

//void drive_calibrationResults(void);
//void drive_setErrorLimit(int maxDistDiffTicks);

void drive_setMaxSpeed(int speed);


void drive_setRampStep(int stepsize);


void drive_rampStep(int left, int right);


void drive_ramp(int left, int right);



#if defined(__cplusplus)
}
#endif
/* __cplusplus */ 
#endif
/* ABDRIVE360_H */ 


                                                                                //