ev3api_motor.h

#pragma once

typedef enum {
    EV3_PORT_A = 0,     
    EV3_PORT_B = 1,     
    EV3_PORT_C = 2,     
    EV3_PORT_D = 3,     
    TNUM_MOTOR_PORT = 4 
} motor_port_t;

typedef enum {
    NONE_MOTOR = 0,    
    MEDIUM_MOTOR,      
    LARGE_MOTOR,       
    UNREGULATED_MOTOR, 
    TNUM_MOTOR_TYPE    
} motor_type_t;

ER ev3_motor_config(motor_port_t port, motor_type_t type);

ER_UINT ev3_motor_get_type(motor_port_t port);

int32_t ev3_motor_get_counts(motor_port_t port);

ER ev3_motor_reset_counts(motor_port_t port);

ER ev3_motor_set_power(motor_port_t port, int power);

int ev3_motor_get_power(motor_port_t port);

ER ev3_motor_stop(motor_port_t port, bool_t brake);

ER ev3_motor_rotate(motor_port_t port, int degrees, uint32_t speed_abs, bool_t blocking);

ER ev3_motor_steer(motor_port_t left_motor, motor_port_t right_motor, int power, int turn_ratio);

#if 0 // Legacy code or unfinished work

ER ev3_motor_reset(ID port);

ER ev3_motor_set_speed(ID port, int speed);

ER ev3_motor_set_power(ID port, int power);

ER ev3_motors_init(motor_type_t typeA, motor_type_t typeB, motor_type_t typeC, motor_type_t typeD);

/*
 * TODO: documented this
 * -100 <= speed <= 100, -100(left) <= turn_ration <= 100(right)
 * Motor with smaller port number will be treated as left motor.
 */
//extern void ev3_motor_sync(MotorPort portA, MotorPort portB, int speed, int turn_ratio);

//extern ER ev3_motor_steer_for_degrees(ID left_motor, ID right_motor, int power, int turn_ratio, int degrees);

ER ev3_motor_set_counts(motor_port_t port, int32_t counts);

#endif