motor.h File Reference

Generic motors (actuation/signal output) functions. More...

#include <stdbool.h>

Go to the source code of this file.

Typedefs
typedef struct _MotorData	MotorData
	Single motor internal data structure.
typedef MotorData *	Motor
	Opaque reference to motor internal data structure.

Functions
Motor	Motor_Init (const char *configName)
	Creates and initializes motor data structure based on given information.
void	Motor_End (Motor motor)
	Deallocates internal data of given motor.
bool	Motor_Enable (Motor motor)
	Allows hardware/virtual device of given motor to output signal.
void	Motor_Disable (Motor motor)
	Prevents hardware/virtual device of given motor from outputing signal.
void	Motor_SetOffset (Motor motor)
	Enables motor setpoint offset acquisition.
void	Motor_SetOperation (Motor motor)
	Enables motor output/operation.
void	Motor_WriteControl (Motor motor, double setpoint)
	Writes specified value to given motor ouput device.

Detailed Description

Generic motors (actuation/signal output) functions.

Interface for configurable motor control. Specific underlying implementation (plug-in) and further configuration are defined as explained in Motor Configuration

Function Documentation

Motor_Disable()

void Motor_Disable

(

Motor

motor

)

Prevents hardware/virtual device of given motor from outputing signal.

Parameters

[in]

motor

reference to motor

Motor_Enable()

bool Motor_Enable

(

Motor

motor

)

Allows hardware/virtual device of given motor to output signal.

Parameters

[in]

motor

reference to motor

Returns

true on enabled output, false otherwise

Motor_End()

void Motor_End

(

Motor

motor

)

Deallocates internal data of given motor.

Parameters

[in]

motor

reference to motor

Motor_Init()

Motor Motor_Init

(

const char *

configName

)

Creates and initializes motor data structure based on given information.

Parameters

[in]

configName

name of file containing configuration parameters, as explained at Motor Configuration

Returns

reference/pointer to newly created and initialized motor data structure

Motor_SetOffset()

void Motor_SetOffset

(

Motor

motor

)

Enables motor setpoint offset acquisition.

Parameters

[in]

motor

reference to motor

Motor_SetOperation()

void Motor_SetOperation

(

Motor

motor

)

Enables motor output/operation.

Parameters

[in]

motor

reference to motor

Motor_WriteControl()

void Motor_WriteControl	(	Motor	motor,
		double	setpoint )

Writes specified value to given motor ouput device.

Parameters

[in]	motor	reference to motor
[in]	setpoint	value to be written/generated