io.h

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#ifndef IO_H_
#define IO_H_
 
#include <stdbool.h>
 
#include "TimerIRQ.h"
 
 
/* Input/Output Data Types */
 
typedef float Angle;
typedef float Position;
typedef float Velocity;
typedef float Voltage;
 
 
typedef struct {
    Angle x_angle;
    Angle y_angle;
} Angles;
 
typedef struct {
    Position x_pos;
    Position y_pos;
} Positions;
 
typedef struct {
    Velocity x_vel;
    Velocity y_vel;
} Velocities;
 
/* Sensor Variables */
extern MyRio_IrqTimer timer;
 
/* Actuator Limits */
#define MOTOR_V_LIM_H 10.000
#define MOTOR_V_LIM_L -10.000
 
/* Physical Parameters */
#define R 0.0062
#define K_a 0.41
#define K_m 0.11
#define FORCE_TO_VOLTAGE(force) \
    (force) * R / (K_a * K_m)
#define VOLTAGE_TO_FORCE(voltage) \
    (voltage) * (K_a * K_m) / R
 
/* Setup/Shutdown Functions */
 
 
int IOSetup();
 
int IOShutdown();
 
 
/* Reset Feature */
 
 
void Reset();
 
 
/* Sensor Functions */
 
 
int GetReferenceVelocityCommand(Velocities *result);
 
int GetReferenceAngleCommand(Angles *result);
 
int GetAngle(Angles *result);
 
int GetTrolleyPosition(Positions *result);
 
int GetTrolleyVelocity(Velocities *result);
 
int GetUserPosition(Angles *angle, Positions *pos, Positions *result);
 
int GetUserVelocity(Angles *angle, Velocities *vel, Velocities *result);
 
 
/* Actuator Functions */
 
 
int SetXVoltage(Voltage voltage);
 
int SetYVoltage(Voltage voltage);
 
 
/* Keyboard Functions */
 
bool PressedDelete();
 
int KeyboardControlFork();
 
int KeyboardControlJoin();
 
#endif