Access to EV3 DC motors. More...

Data Structures
struct	EV3_DC
	Structure of a DC motor descriptor. More...

Macros
#define	DC_DIR "/sys/class/dc-motor"

#define	DC_DESC__LIMIT_ DESC_LIMIT

#define	DC__NONE_ DC_DESC__LIMIT_

Enumerations
enum	{ DC_TYPE__NONE_ = 0, RCX_MOTOR, DC_TYPE__COUNT_, DC_TYPE__UNKNOWN_ = DC_TYPE__COUNT_ }
	Identifiers of DC motor types. More...

enum	{ DC_COMMAND__NONE_ = 0, DC_RUN_FOREVER, DC_RUN_TIMED, DC_RUN_DIRECT, DC_STOP, DC_COMMAND__COUNT_, DC_COMMAND__UNKNOWN_ = DC_COMMAND__COUNT_ }
	Common identifiers of DC motor "command" attribute. More...

enum	{ DC_POLARITY__NONE_ = 0, DC_NORMAL, DC_INVERSED, DC_POLARITY__COUNT_, DC_POLARITY__UNKNOWN_ = DC_POLARITY__COUNT_ }
	Common identifiers of DC motor "polarity" attribute. More...

enum	{ DC_STOP_ACTION__NONE_ = 0, DC_COAST, DC_BRAKE, DC_STOP_ACTION__COUNT_, DC_STOP_ACTION__UNKNOWN_ = DC_STOP_ACTION__COUNT_ }
	Common identifiers of DC motor "stop_action" attribute. More...

enum	{ DC_STATE__NONE_ = 0, DC_RUNNING = 0x1L, DC_RAMPING = 0x2L }
	Common identifiers of DC motor "state" attribute.

Functions
	EV3_DC_VAR (EV3_DC ev3_dc[DC_DESC__LIMIT_])
	Vector of DC motor descriptors (filled by ev3_dc_init).

size_t	get_dc_address (uint8_t sn, char *buf, size_t sz)
	Read "address" attribute of the DC motor. More...

size_t	set_dc_command (uint8_t sn, char *value)
	Write "command" attribute of the DC motor. More...

size_t	multi_set_dc_command (uint8_t sn, char value)
	Write "command" attribute of several DC motors. More...

size_t	get_dc_commands (uint8_t sn, char *buf, size_t sz)
	Read "commands" attribute of the DC motor. More...

size_t	get_dc_driver_name (uint8_t sn, char *buf, size_t sz)
	Read "driver_name" attribute of the DC motor. More...

size_t	get_dc_duty_cycle (uint8_t sn, int *buf)
	Read "duty_cycle" attribute of the DC motor. More...

size_t	get_dc_duty_cycle_sp (uint8_t sn, int *buf)
	Read "duty_cycle_sp" attribute of the DC motor. More...

size_t	set_dc_duty_cycle_sp (uint8_t sn, int value)
	Write "duty_cycle_sp" attribute of the DC motor. More...

size_t	multi_set_dc_duty_cycle_sp (uint8_t *sn, int value)
	Write "duty_cycle_sp" attribute of several DC motors. More...

size_t	get_dc_polarity (uint8_t sn, char *buf, size_t sz)
	Read "polarity" attribute of the DC motor. More...

size_t	set_dc_polarity (uint8_t sn, char *value)
	Write "polarity" attribute of the DC motor. More...

size_t	multi_set_dc_polarity (uint8_t sn, char value)
	Write "polarity" attribute of several DC motors. More...

size_t	get_dc_state (uint8_t sn, char *buf, size_t sz)
	Read "state" attribute of the DC motor. More...

size_t	set_dc_stop_action (uint8_t sn, char *value)
	Write "stop_action" attribute of the DC motor. More...

size_t	multi_set_dc_stop_action (uint8_t sn, char value)
	Write "stop_action" attribute of several DC motors. More...

size_t	get_dc_stop_actions (uint8_t sn, char *buf, size_t sz)
	Read "stop_actions" attribute of the DC motor. More...

size_t	get_dc_ramp_down_sp (uint8_t sn, int *buf)
	Read "ramp_down_sp" attribute of the DC motor. More...

size_t	set_dc_ramp_down_sp (uint8_t sn, int value)
	Write "ramp_down_sp" attribute of the DC motor. More...

size_t	multi_set_dc_ramp_down_sp (uint8_t *sn, int value)
	Write "ramp_down_sp" attribute of several DC motors. More...

size_t	get_dc_ramp_up_sp (uint8_t sn, int *buf)
	Read "ramp_up_sp" attribute of the DC motor. More...

size_t	set_dc_ramp_up_sp (uint8_t sn, int value)
	Write "ramp_up_sp" attribute of the DC motor. More...

size_t	multi_set_dc_ramp_up_sp (uint8_t *sn, int value)
	Write "ramp_up_sp" attribute of several DC motors. More...

size_t	get_dc_time_sp (uint8_t sn, int *buf)
	Read "time_sp" attribute of the DC motor. More...

size_t	set_dc_time_sp (uint8_t sn, int value)
	Write "time_sp" attribute of the DC motor. More...

size_t	multi_set_dc_time_sp (uint8_t *sn, int value)
	Write "time_sp" attribute of several DC motors. More...

const char *	ev3_dc_type (INX_T type_inx)
	Get name of the specified DC motor type. More...

INX_T	get_dc_type_inx (uint8_t sn)
	Read "driver_name" attribute and get index of the DC motor type. More...

size_t	get_dc_desc (uint8_t sn, EV3_DC *desc)
	Read DC motor attributes that are required for filling the descriptor. More...

EV3_DC *	ev3_dc_desc (uint8_t sn)
	Get descriptor of the DC motor. More...

INX_T	ev3_dc_desc_type_inx (uint8_t sn)
	Get type from the DC motor descriptor. More...

uint8_t	ev3_dc_desc_port (uint8_t sn)
	Get EV3 port from the DC motor descriptor. More...

uint8_t	ev3_dc_desc_extport (uint8_t sn)
	Get extended port from the DC motor descriptor. More...

char *	ev3_dc_port_name (uint8_t sn, char *buf)
	Assemble EV3 port name from the DC motor descriptor. More...

bool	ev3_search_dc (INX_T type_inx, uint8_t *sn, uint8_t from)
	Search of a sequence number of the specified DC motor type. More...

bool	ev3_search_dc_plugged_in (uint8_t port, uint8_t extport, uint8_t *sn, uint8_t from)
	Search of a sequence number the DC motor by plug-in attributes. More...

const char *	ev3_dc_command (INX_T command_inx)
	Get name of the specified DC motor command. More...

size_t	set_dc_command_inx (uint8_t sn, INX_T command_inx)
	Write "command" attribute of the DC motor by the index. More...

size_t	multi_set_dc_command_inx (uint8_t *sn, INX_T command_inx)
	Write "command" attribute of several DC motors by the index. More...

const char *	ev3_dc_polarity (INX_T polarity_inx)
	Get name of the specified DC motor polarity. More...

INX_T	get_dc_polarity_inx (uint8_t sn)
	Read "polarity" attribute of the DC motor and get the index. More...

size_t	set_dc_polarity_inx (uint8_t sn, INX_T polarity_inx)
	Write "polarity" attribute of the DC motor by the index. More...

size_t	multi_set_dc_polarity_inx (uint8_t *sn, INX_T polarity_inx)
	Write "polarity" attribute of several DC motors by the index. More...

const char *	ev3_dc_stop_action (INX_T stop_action_inx)
	Get name of the specified DC motor stop_action. More...

size_t	set_dc_stop_action_inx (uint8_t sn, INX_T stop_action_inx)
	Write "stop_action" attribute of the DC motor by the index. More...

size_t	multi_set_dc_stop_action_inx (uint8_t *sn, INX_T stop_action_inx)
	Write "stop_action" attribute of several DC motors by the index. More...

size_t	get_dc_state_flags (uint8_t sn, FLAGS_T *flags)
	Read "state" attribute of the DC motor and get the flags. More...

int	ev3_dc_init (void)
	Detect connected DC motors. More...

Detailed Description

Access to EV3 DC motors.

See also: http://www.ev3dev.org/docs/motors/; http://www.ev3dev.org/docs/drivers/dc-motor-class/

Macro Definition Documentation

#define DC__NONE_ DC_DESC__LIMIT_

DC motor is not found.

#define DC_DESC__LIMIT_ DESC_LIMIT

Limit of DC motor descriptors.

#define DC_DIR "/sys/class/dc-motor"

Directory of DC motors.

Enumeration Type Documentation

anonymous enum

Identifiers of DC motor types.

Enumerator
DC_TYPE__COUNT_	Count of DC motor types.

anonymous enum

Common identifiers of DC motor "command" attribute.

Enumerator
DC_COMMAND__COUNT_	Count of DC motor "command" attribute.

anonymous enum

Common identifiers of DC motor "polarity" attribute.

Enumerator
DC_POLARITY__COUNT_	Count of DC motor "polarity" attribute.

anonymous enum

Common identifiers of DC motor "stop_action" attribute.

Enumerator
DC_STOP_ACTION__COUNT_	Count of DC motor "stop_action" attribute.

Function Documentation

const char* ev3_dc_command ( INX_T command_inx )

Get name of the specified DC motor command.

Parameters

command_inx Index of the DC motor command.

Returns: Requested value.

EV3_DC* ev3_dc_desc ( uint8_t sn )

Get descriptor of the DC motor.

Parameters

sn	Sequence number.

Returns: Pointer to the DC motor descriptor.

uint8_t ev3_dc_desc_extport ( uint8_t sn )

Get extended port from the DC motor descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

uint8_t ev3_dc_desc_port ( uint8_t sn )

Get EV3 port from the DC motor descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

INX_T ev3_dc_desc_type_inx ( uint8_t sn )

Get type from the DC motor descriptor.

Parameters

sn	Sequence number.

Returns: Requested value.

int ev3_dc_init ( void )

Detect connected DC motors.

Returns: Number of found DC motors or -1 in case of an error.

const char* ev3_dc_polarity ( INX_T polarity_inx )

Get name of the specified DC motor polarity.

Parameters

polarity_inx Index of the DC motor polarity.

Returns: Requested value.

char* ev3_dc_port_name	(	uint8_t	sn,
		char *	buf
	)

Assemble EV3 port name from the DC motor descriptor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Requested value.

const char* ev3_dc_stop_action ( INX_T stop_action_inx )

Get name of the specified DC motor stop_action.

Parameters

stop_action_inx Index of the DC motor stop_action.

Returns: Requested value.

const char* ev3_dc_type ( INX_T type_inx )

Get name of the specified DC motor type.

Parameters

type_inx Index of the DC motor type.

Returns: Requested value.

bool ev3_search_dc	(	INX_T	type_inx,
		uint8_t *	sn,
		uint8_t	from
	)

Search of a sequence number of the specified DC motor type.

Parameters

	type_inx	DC motor type.
[out]	sn	Buffer for the sequence number.
	from	Search initial value.

Returns: Flag - the DC motor is found.

bool ev3_search_dc_plugged_in	(	uint8_t	port,
		uint8_t	extport,
		uint8_t *	sn,
		uint8_t	from
	)

Search of a sequence number the DC motor by plug-in attributes.

Parameters

	port	EV3 port.
	extport	Extended port.
[out]	sn	Buffer for the sequence number.
	from	Search initial value.

Returns: Flag - the DC motor is found.

size_t get_dc_address	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "address" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_dc_commands	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "commands" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_dc_desc	(	uint8_t	sn,
		EV3_DC *	desc
	)

Read DC motor attributes that are required for filling the descriptor.

Parameters

sn	Sequence number.
desc	Buffer for the descriptor.

Returns: Count of read bytes.

size_t get_dc_driver_name	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "driver_name" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_dc_duty_cycle	(	uint8_t	sn,
		int *	buf
	)

Read "duty_cycle" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_dc_duty_cycle_sp	(	uint8_t	sn,
		int *	buf
	)

Read "duty_cycle_sp" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_dc_polarity	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "polarity" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

INX_T get_dc_polarity_inx ( uint8_t sn )

Read "polarity" attribute of the DC motor and get the index.

Parameters

sn	Sequence number.

Returns: Requested value.

size_t get_dc_ramp_down_sp	(	uint8_t	sn,
		int *	buf
	)

Read "ramp_down_sp" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_dc_ramp_up_sp	(	uint8_t	sn,
		int *	buf
	)

Read "ramp_up_sp" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

size_t get_dc_state	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "state" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_dc_state_flags	(	uint8_t	sn,
		FLAGS_T *	flags
	)

Read "state" attribute of the DC motor and get the flags.

Parameters

sn	Sequence number.
flags	Buffer for the flags.

Returns: Count of read bytes.

size_t get_dc_stop_actions	(	uint8_t	sn,
		char *	buf,
		size_t	sz
	)

Read "stop_actions" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.
	sz	Buffer size.

Returns: Count of read bytes.

size_t get_dc_time_sp	(	uint8_t	sn,
		int *	buf
	)

Read "time_sp" attribute of the DC motor.

Parameters

	sn	Sequence number.
[out]	buf	Buffer for result.

Returns: Count of read bytes.

INX_T get_dc_type_inx ( uint8_t sn )

Read "driver_name" attribute and get index of the DC motor type.

Parameters

sn	Sequence number.

Returns: Requested value.

size_t multi_set_dc_command	(	uint8_t *	sn,
		char *	value
	)

Write "command" attribute of several DC motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_dc_command_inx	(	uint8_t *	sn,
		INX_T	command_inx
	)

Write "command" attribute of several DC motors by the index.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
command_inx	Index of the DC motor command.

Returns: Count of written bytes.

size_t multi_set_dc_duty_cycle_sp	(	uint8_t *	sn,
		int	value
	)

Write "duty_cycle_sp" attribute of several DC motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_dc_polarity	(	uint8_t *	sn,
		char *	value
	)

Write "polarity" attribute of several DC motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_dc_polarity_inx	(	uint8_t *	sn,
		INX_T	polarity_inx
	)

Write "polarity" attribute of several DC motors by the index.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
polarity_inx	Index of the DC motor polarity.

Returns: Count of written bytes.

size_t multi_set_dc_ramp_down_sp	(	uint8_t *	sn,
		int	value
	)

Write "ramp_down_sp" attribute of several DC motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_dc_ramp_up_sp	(	uint8_t *	sn,
		int	value
	)

Write "ramp_up_sp" attribute of several DC motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_dc_stop_action	(	uint8_t *	sn,
		char *	value
	)

Write "stop_action" attribute of several DC motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t multi_set_dc_stop_action_inx	(	uint8_t *	sn,
		INX_T	stop_action_inx
	)

Write "stop_action" attribute of several DC motors by the index.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
stop_action_inx	Index of the DC motor stop_action.

Returns: Count of written bytes.

size_t multi_set_dc_time_sp	(	uint8_t *	sn,
		int	value
	)

Write "time_sp" attribute of several DC motors.

Parameters

sn	Vector of sequence numbers ending with DESC_LIMIT.
value	Attribute value.

Returns: Count of written bytes.

size_t set_dc_command	(	uint8_t	sn,
		char *	value
	)

Write "command" attribute of the DC motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_dc_command_inx	(	uint8_t	sn,
		INX_T	command_inx
	)

Write "command" attribute of the DC motor by the index.

Parameters

sn	Sequence number.
command_inx	Index of the DC motor command.

Returns: Count of written bytes.

size_t set_dc_duty_cycle_sp	(	uint8_t	sn,
		int	value
	)

Write "duty_cycle_sp" attribute of the DC motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_dc_polarity	(	uint8_t	sn,
		char *	value
	)

Write "polarity" attribute of the DC motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_dc_polarity_inx	(	uint8_t	sn,
		INX_T	polarity_inx
	)

Write "polarity" attribute of the DC motor by the index.

Parameters

sn	Sequence number.
polarity_inx	Index of the DC motor polarity.

Returns: Count of written bytes.

size_t set_dc_ramp_down_sp	(	uint8_t	sn,
		int	value
	)

Write "ramp_down_sp" attribute of the DC motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_dc_ramp_up_sp	(	uint8_t	sn,
		int	value
	)

Write "ramp_up_sp" attribute of the DC motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_dc_stop_action	(	uint8_t	sn,
		char *	value
	)

Write "stop_action" attribute of the DC motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

size_t set_dc_stop_action_inx	(	uint8_t	sn,
		INX_T	stop_action_inx
	)

Write "stop_action" attribute of the DC motor by the index.

Parameters

sn	Sequence number.
stop_action_inx	Index of the DC motor stop_action.

Returns: Count of written bytes.

size_t set_dc_time_sp	(	uint8_t	sn,
		int	value
	)

Write "time_sp" attribute of the DC motor.

Parameters

sn	Sequence number.
value	Attribute value.

Returns: Count of written bytes.

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation