motor_control.h

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#ifndef MOTOR_CONTROL_H // Include guard
#define MOTOR_CONTROL_H
#include <stdbool.h>
#include "pico/stdlib.h"
#include "pico/types.h"
 
// Definitions
// --------------------------------------------------------------------------------------------
//
 
#define MOTOR_PWM_CLKDIV 100
#define MOTOR_PWM_WRAP 62500
#define MOTOR_LEFT_PIN_CLKWISE 16
#define MOTOR_LEFT_PIN_ANTICLKWISE 17
#define MOTOR_RIGHT_PIN_CLKWISE 15
#define MOTOR_RIGHT_PIN_ANTICLKWISE 14
#define MOTOR_PWM_PIN_LEFT 10
#define MOTOR_PWM_PIN_RIGHT 11
#define MOTOR_DEFAULT_DIFF_RATIO 1.05f // End of motor_control group.
 
// Type definitions
// --------------------------------------------------------------------------------------------
//
 
typedef struct motor_pins
{
    uint pwm_gpio_a;        
    uint pwm_gpio_b;        
    uint left_clkwise;      
    uint left_anticlkwise;  
    uint right_clkwise;     
    uint right_anticlkwise; 
} motor_pins_t;
 
// Function prototypes
// --------------------------------------------------------------------------------------------
//
 
void motor_start(uint clkwise_gpio, uint anti_clkwise_gpio, uint pwm_gpio);
void motor_update_pwm(uint pwm_gpio, uint pwm_wrap, float duty_cycle);
void motor_update_direction(uint clkwise_gpio,
                            uint anti_clkwise_gpio,
                            uint clkwise,
                            uint anti_clkwise);
void motor_move_forward(void);
void motor_stop(void);
void motor_reverse(void);
void motor_turn_left(bool reverse_turn);
void motor_turn_right(bool reverse_turn);
void motor_update_ratio(float new_ratio);
 
#endif // MOTOR_CONTROL_H
 
// End of file motor_control.h