These functions are for reading motor values of the EV3 brick. At the moment only tacho-motors are supported from ev3c. The flow is to search first for all connected motors with ev3_load_motors. This list can then be searched with ev3_search_motor_by_identifier and ev3_search_motor_by_port (or by hand). To use a motor, it has to be opened with ev3_open_motor. Then some motor settings can be set like the speed with ev3_set_speed_sp or the time to run ev3_set_time_sp and if everything is setup the motor can be run with ev3_command_motor. In the very end the motors should be closed using ev3_close_motor or using ev3_delete_motors, which cleans the list and closes all motors if open.
| ev3c_motor | These functions are for reading motor values of the EV3 brick. |
| Enumerations | |
| ev3_motor_identifier | a number for supported tacho motor in ev3dev. |
| ev3_motor_identifier | status returned from ev3_motor_state |
| Types | |
| ev3_motor | A struct for every loaded motor. |
| Functions | |
| ev3_load_motors | |
| ev3_delete_motors | Deletes the linked list of available motors. |
| ev3_open_motor | Opens the motor to be used. |
| ev3_search_motor_by_identifier | Searches for a motor in the linked list identified with the identifier. |
| ev3_search_motor_by_port | Searches for a motor in the linked list identified with the port. |
| ev3_close_motor | Closes the motor. |
| ev3_command_motor | Sets the command of the motor, e.g. |
| ev3_command_motor_by_name | Sets the command of the motor, e.g. |
| ev3_stop_action_motor | Sets the stop_action of the motor, e.g. |
| ev3_stop_action_motor_by_name | Sets the stop_action of the motor, e.g. |
| ev3_reset_motor | Reset the motor to a default state. |
| ev3_get_duty_cycle | Returns the duty cycle of a motor |
| ev3_set_duty_cycle_sp | Set the duty cycle set point of a motor. |
| ev3_get_duty_cycle_sp | Returns the duty cycle set point of a motor |
| ev3_get_speed | Returns the speed of a motor |
| ev3_set_speed_sp | Set the speed set point of a motor. |
| ev3_get_speed_sp | Returns the speed set point of a motor |
| ev3_set_position | Set the position of a motor. |
| ev3_get_position | Returns the position of a motor |
| ev3_set_position_sp | Set the position set point of a motor. |
| ev3_get_position_sp | Returns the position set point of a motor |
| ev3_set_ramp_up_sp | Set the ramp up set point of a motor. |
| ev3_get_ramp_up_sp | Returns the ramp up set point of a motor |
| ev3_set_ramp_down_sp | Set the ramp down set point of a motor. |
| ev3_get_ramp_down_sp | Returns the ramp down set point of a motor |
| ev3_set_time_sp | Set the time set point of a motor. |
| ev3_get_time_sp | Returns the time set point of a motor |
| ev3_motor_state | Returns the state of the motor. |
| ev3_set_polarity | Set the polarity of a motor. |
| ev3_get_polarity | Returns the polarity of a motor |
a number for supported tacho motor in ev3dev. For more information have a look at the ev3dev wiki.
| FI_L12_EV3 | Firgelli 12V Motor |
| LEGO_EV3_L_MOTOR | large lego motor, EV3 and NXT |
| LEGO_EV3_M_MOTOR | middle lego motor, atm only the small EV3 motor |
| UNKNOWN_MOTOR | unknown motor |
status returned from ev3_motor_state
| MOTOR_RUNNING | motor is running |
| MOTOR_RAMPING | motor speed is in- or decreasing |
| MOTOR_HOLDING | motor position is hold |
| MOTOR_STALLED | motor is stalled |
A struct for every loaded motor.
| driver_name | (ev3_string) Name of the driver |
| driver_identifier | (ev3_motor_identifier) Identifier of the driver |
| port | (char) Port (‘A’..’D’) of the EV3 brick |
| motor_nr | (int32) internal, incrementing counter of the motors in ev3dev |
| duty_cycle_fd | (int32) file descriptor for internal use |
| duty_cycle_sp_fd | (int32) file descriptor for internal use |
| position_fd | (int32) file descriptor for internal use |
| position_sp_fd | (int32) file descriptor for internal use |
| speed_fd | (int32) file descriptor for internal use |
| speed_sp_fd | (int32) file descriptor for internal use |
| ramp_up_sp_fd | (int32) file descriptor for internal use |
| ramp_down_sp_fd | (int32) file descriptor for internal use |
| time_sp_fd | (int32) file descriptor for internal use |
| commands | (array of ev3_string) the supported commands of the motor. |
| command_count | (int32) the number of supported commands of the motor. |
| command | (int32) the command mode. |
| next | (pointer of ev3_motor) next element in the linked list. NULL for the last element. |
void ev3_delete_motors( ev3_motor_ptr motors )
Deletes the linked list of available motors.
| motors | (pointer of ev3_motor) list to delete |
ev3_motor_ptr ev3_open_motor( ev3_motor_ptr motor )
Opens the motor to be used. If called twice nothing happens.
| motor | (pointer of ev3_motor) the motor to be opened. You can just iterate of all motors returns by ev3_load_motors or you search for a specific motor with ev3_search_motor_by_identifier or ev3_search_motor_by_port and open just this one. |
| *ev3_motor | returns the parameter. Useful if you opened the motor with ev3_open_motor(ev3_search_motor_by_identifier(...)). |
ev3_motor_ptr ev3_search_motor_by_identifier( ev3_motor_ptr motors, enum ev3_motor_identifier identifier, int32_t not_ready )
Searches for a motor in the linked list identified with the identifier. It may be, that you connected two motors with the same identifier. In that case you can specify to search only for not yet opened motors.
| motors | (pointer of ev3_motor) linked list of motors created by ev3_load_motors. |
| identifier | (ev3_motor_identifier) Identifier to search for. |
| not_ready | (int32) specifies, whether an already opened motor should be returned or not. If not_ready is 1 only a not yet opened motor will be returned. |
| *ev3_motor | the found motor. May be NULL if nothing is found. |
ev3_motor_ptr ev3_search_motor_by_port( ev3_motor_ptr motors, char port )
Searches for a motor in the linked list identified with the port. The ports are labeled like on the EV3 brick starting with ‘A’.
| motors | (pointer of ev3_motor) linked list of motors created by ev3_load_motors. |
| port | (char) Port to search for. |
| *ev3_motor | the found motor. May be NULL if nothing is found. |
void ev3_close_motor( ev3_motor_ptr motor )
Closes the motor. The pointer is not freed. The values are not reseted or invalid.
| motor | (point of ev3_motor) motor to close. |
ev3_motor_ptr ev3_command_motor( ev3_motor_ptr motor, int32_t command )
Sets the command of the motor, e.g. run-forever.
| motor | (pointer of ev3_motor) motor to change it’s command |
| command | (int32) command to be set to. It refers to the number in the array commands in motor. E.g. run-forever would be 0. |
| *ev3_motor | the same pointer as passed as argument. Useful for such call chains as ev3_open( ev3_command_motor( motor, 1 ) ); |
ev3_motor_ptr ev3_command_motor_by_name( ev3_motor_ptr motor, char * command )
Sets the command of the motor, e.g. “run-forever”. Slower, but more easy to use than ev3_command_motor, which makes sense espcecially if you change the command of a motor quite often. If such a command doesn’t exist, nothing happens and no command is changed.
| motor | (pointer of ev3_motor) motor to change it’s command |
| command | (char*) command to be set to. It refers to the name from in the array commands in motor, e.g. “run-forever”. |
| *ev3_motor | the same pointer as passed as argument. Useful for such call chains as ev3_open( ev3_command_motor( motor, 1 ) ); |
ev3_motor_ptr ev3_stop_action_motor( ev3_motor_ptr motor, int32_t stop_action )
Sets the stop_action of the motor, e.g. hold.
| motor | (pointer of ev3_motor) motor to change it’s stop_action |
| stop_action | (int32) stop_action to be set to. It refers to the number in the array stop_actions in motor. E.g. hold would be 2. |
| *ev3_motor | the same pointer as passed as argument. Useful for such call chains as ev3_open( ev3_stop_action_motor( motor, 1 ) ); |
ev3_motor_ptr ev3_stop_action_motor_by_name( ev3_motor_ptr motor, char * stop_action )
Sets the stop_action of the motor, e.g. “hold”. Slower, but more easy to use than ev3_stop_action_motor, which makes sense espcecially if you change the stop_action of a motor quite often. If such a stop_action doesn’t exist, nothing happens and no stop_action is changed.
| motor | (pointer of ev3_motor) motor to change it’s stop_action |
| stop_action | (char*) stop_action to be set to. It refers to the name from in the array stop_actions in motor, e.g. “hold”. |
| *ev3_motor | the same pointer as passed as argument. Useful for such call chains as ev3_open( ev3_stop_action_motor( motor, 1 ) ); |
ev3_motor_ptr ev3_reset_motor( ev3_motor_ptr motor )
Reset the motor to a default state. It may be a good idea to call this right after loading but before opening the motor.
| motor | (pointer of ev3_motor) motor to reset |
| ev3_motor | the same pointer as passed as argument. |
int32_t ev3_get_duty_cycle( ev3_motor_ptr motor )
Returns the duty cycle of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the duty cycle |
ev3_motor_ptr ev3_set_duty_cycle_sp( ev3_motor_ptr motor, int32_t value )
Set the duty cycle set point of a motor.
| motor | (pointer of ev3_motor) motor to set the value |
| value | (int32_t) value to set |
int32_t ev3_get_duty_cycle_sp( ev3_motor_ptr motor )
Returns the duty cycle set point of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the duty cycle set point |
int32_t ev3_get_speed( ev3_motor_ptr motor )
Returns the speed of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the speed |
ev3_motor_ptr ev3_set_speed_sp( ev3_motor_ptr motor, int32_t value )
Set the speed set point of a motor.
| motor | (pointer of ev3_motor) motor to set the value |
| value | (int32_t) value to set |
int32_t ev3_get_speed_sp( ev3_motor_ptr motor )
Returns the speed set point of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the speed set point |
ev3_motor_ptr ev3_set_position( ev3_motor_ptr motor, int32_t value )
Set the position of a motor.
| motor | (pointer of ev3_motor) motor to set the value |
| value | (int32_t) value to set |
int32_t ev3_get_position( ev3_motor_ptr motor )
Returns the position of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the position |
ev3_motor_ptr ev3_set_position_sp( ev3_motor_ptr motor, int32_t value )
Set the position set point of a motor.
| motor | (pointer of ev3_motor) motor to set the value |
| value | (int32_t) value to set |
int32_t ev3_get_position_sp( ev3_motor_ptr motor )
Returns the position set point of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the position set point |
ev3_motor_ptr ev3_set_ramp_up_sp( ev3_motor_ptr motor, int32_t value )
Set the ramp up set point of a motor.
| motor | (pointer of ev3_motor) motor to set the value |
| value | (int32_t) value to set |
int32_t ev3_get_ramp_up_sp( ev3_motor_ptr motor )
Returns the ramp up set point of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the ramp up set point |
ev3_motor_ptr ev3_set_ramp_down_sp( ev3_motor_ptr motor, int32_t value )
Set the ramp down set point of a motor.
| motor | (pointer of ev3_motor) motor to set the value |
| value | (int32_t) value to set |
int32_t ev3_get_ramp_down_sp( ev3_motor_ptr motor )
Returns the ramp down set point of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the ramp down set point |
ev3_motor_ptr ev3_set_time_sp( ev3_motor_ptr motor, int32_t value )
Set the time set point of a motor.
| motor | (pointer of ev3_motor) motor to set the value |
| value | (int32_t) value to set |
int32_t ev3_get_time_sp( ev3_motor_ptr motor )
Returns the time set point of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the time set point |
int32_t ev3_motor_state( ev3_motor_ptr motor )
Returns the state of the motor.
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the state of the motor. The possibilites are all OR combinations of <ev3_motor_status>. |
ev3_motor_ptr ev3_set_polarity( ev3_motor_ptr motor, int32_t value )
Set the polarity of a motor.
| motor | (pointer of ev3_motor) motor to set the value |
| value | (int32_t) value to set. -1 means inversed, 1 is normal |
int32_t ev3_get_polarity( ev3_motor_ptr motor )
Returns the polarity of a motor
| motor | (pointer of ev3_motor) motor to get the value from |
| int32_t | the polarity, 1 is normal, -1 is inversed |
Returns the state of the motor.
int32_t ev3_motor_state( ev3_motor_ptr motor )
ev3_motor_ptr ev3_load_motors( void )
Deletes the linked list of available motors.
void ev3_delete_motors( ev3_motor_ptr motors )
Opens the motor to be used.
ev3_motor_ptr ev3_open_motor( ev3_motor_ptr motor )
Searches for a motor in the linked list identified with the identifier.
ev3_motor_ptr ev3_search_motor_by_identifier( ev3_motor_ptr motors, enum ev3_motor_identifier identifier, int32_t not_ready )
Searches for a motor in the linked list identified with the port.
ev3_motor_ptr ev3_search_motor_by_port( ev3_motor_ptr motors, char port )
Closes the motor.
void ev3_close_motor( ev3_motor_ptr motor )
Sets the command of the motor, e.g.
ev3_motor_ptr ev3_command_motor( ev3_motor_ptr motor, int32_t command )
Sets the command of the motor, e.g.
ev3_motor_ptr ev3_command_motor_by_name( ev3_motor_ptr motor, char * command )
Sets the stop_action of the motor, e.g.
ev3_motor_ptr ev3_stop_action_motor( ev3_motor_ptr motor, int32_t stop_action )
Sets the stop_action of the motor, e.g.
ev3_motor_ptr ev3_stop_action_motor_by_name( ev3_motor_ptr motor, char * stop_action )
Reset the motor to a default state.
ev3_motor_ptr ev3_reset_motor( ev3_motor_ptr motor )
Returns the duty cycle of a motor
int32_t ev3_get_duty_cycle( ev3_motor_ptr motor )
Set the duty cycle set point of a motor.
ev3_motor_ptr ev3_set_duty_cycle_sp( ev3_motor_ptr motor, int32_t value )
Returns the duty cycle set point of a motor
int32_t ev3_get_duty_cycle_sp( ev3_motor_ptr motor )
Returns the speed of a motor
int32_t ev3_get_speed( ev3_motor_ptr motor )
Set the speed set point of a motor.
ev3_motor_ptr ev3_set_speed_sp( ev3_motor_ptr motor, int32_t value )
Returns the speed set point of a motor
int32_t ev3_get_speed_sp( ev3_motor_ptr motor )
Set the position of a motor.
ev3_motor_ptr ev3_set_position( ev3_motor_ptr motor, int32_t value )
Returns the position of a motor
int32_t ev3_get_position( ev3_motor_ptr motor )
Set the position set point of a motor.
ev3_motor_ptr ev3_set_position_sp( ev3_motor_ptr motor, int32_t value )
Returns the position set point of a motor
int32_t ev3_get_position_sp( ev3_motor_ptr motor )
Set the ramp up set point of a motor.
ev3_motor_ptr ev3_set_ramp_up_sp( ev3_motor_ptr motor, int32_t value )
Returns the ramp up set point of a motor
int32_t ev3_get_ramp_up_sp( ev3_motor_ptr motor )
Set the ramp down set point of a motor.
ev3_motor_ptr ev3_set_ramp_down_sp( ev3_motor_ptr motor, int32_t value )
Returns the ramp down set point of a motor
int32_t ev3_get_ramp_down_sp( ev3_motor_ptr motor )
Set the time set point of a motor.
ev3_motor_ptr ev3_set_time_sp( ev3_motor_ptr motor, int32_t value )
Returns the time set point of a motor
int32_t ev3_get_time_sp( ev3_motor_ptr motor )
Set the polarity of a motor.
ev3_motor_ptr ev3_set_polarity( ev3_motor_ptr motor, int32_t value )
Returns the polarity of a motor
int32_t ev3_get_polarity( ev3_motor_ptr motor )