# 1 "config/RC99/config_motor.c"


 

 
# 1 "motor.h" 1



# 1 "/projects/cubeos/src_0490/drivers/fastbin/fastbin.h" 1
 













  

















int FBIN_init();
int FBIN_make(int nr,char type,char id);
int FBIN_set(int nr,char v);


# 4 "motor.h" 2



 


typedef struct motor_s {
	int tcrfreq;	 
	unsigned char pwmch;	 
	int pwmper;      
	unsigned char qd1ch;	 
	unsigned char qd2ch;	 
	short qdval;	 
	char f0type;	 
	char f0id;	 
	char f0ch;	 
	char f1type;	 
	char f1id;	 
	char f1ch;	 
	int p2s;	 
	int speedscale;   
	int normspeed;	 
	int PW;		 
	int p;		 
	int i;		 
	int d;		 
        int leaky_q;	 
	int old_pw;	 
	int old_err;	 
	long long acc_err;	 
} motor_t;

extern motor_t MOTOR[3];	 






 


































 
 









 
# 110 "motor.h"


# 132 "motor.h"



 




























# 189 "motor.h"


# 211 "motor.h"






# 251 "motor.h"




void MOTOR_set_pid(int motor,float p, float i, float d, float leaky_q);
void MOTOR_set_speedscale(int motor,float scale);
void MOTOR_pid_speed(int motor, int speed);

void _MOTOR_setPW(int motor, int newPW);
int _MOTOR_encoder(int motor);
short _MOTOR_get_qdec(int motor);

void MOTOR_set_directionbits(int motor);
void MOTOR_set_frequency(int motor,int pulse_frequency);
void MOTOR_set_tpchannels(int motor,int pulse_frequency);
void MOTOR_init(int motor,int pulse_frequency);
int MOTOR_set_config(int motor,
		 unsigned char pwmch,unsigned char qd1ch,unsigned char qd2ch,
		 char f0type, char f0id,char f1type,char f1id,
		 float p,float i,float d,float leaky_q,int speedscale,int p2s);





# 6 "config/RC99/config_motor.c" 2

# 1 "config/RC99/config_motor.h" 1
int config_motor(float p,float i, float d, float leaky_q, int p2s);

# 7 "config/RC99/config_motor.c" 2


 






int config_motor(float p,float i, float d,float leaky_q,int p2s)
{
MOTOR_set_config(0 ,     
                 0 ,  
		 1 ,  
		 2 ,  
                 4  ,  
		 1  ,    
		 2  ,  
		 9 ,    
                 p,i,d,leaky_q,10000,p2s);

MOTOR_set_config(1 ,
                 3 ,4 ,5 ,
                 2  ,13 ,2  ,12 ,
                 p,i,d,leaky_q,10000,p2s);
return(0);
}

