1 files changed, 121 insertions, 0 deletions
diff --git a/include/5106z.h b/include/5106z.h
new file mode 100644
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--- /dev/null
+++ b/include/5106z.h
@@ -0,0 +1,121 @@
+#ifndef _5106Z_H_
+#define _5106Z_H_
+
+#include <API.h>
+#include <stdint.h>
+#include <stdarg.h>
+
+/*
+ *	motor_init - Initialize motors
+ *
+ *	`count` - The number of motors to enable
+ *	`...`	- The port numbers of the motors to enable
+ *
+ *	Enables motors on the ports specified in the `...` arguments after
+ *	`count`, which should say how many ports are currently being
+ *	initialized. Motors not initialized now will be unusable until they
+ *	are enabled.
+ *
+*/
+void motor_init(uint8_t count,...);
+/*
+ *	motor_initIMEs
+ *
+ *	Sets up IMEs for the motors that have them. This function expects the
+ *	motors passed to it to be in order of how they are plugged in to the
+ *	cortex. There is _no_ error checking, so... yeah.
+ *
+*/
+void motor_initIMEs(uint8_t count,...);
+/*
+ *	motor_imeReset
+ *
+ *	Resets the IME on the motor at port `port` if the motor was init'd
+ *	using motor_initIMEs() and is enabled.
+ *
+*/
+int  motor_imeReset(uint8_t port);
+/*
+ *	motor_imeRead
+ *
+ *	Returns the IME reading of the port `port` if it was init'd using
+ *	motor_initIMEs() and is enabled.
+ *
+*/
+int  motor_imeRead(uint8_t port);
+/*
+ *	motor_enable & motor_disable
+ *
+ *	`port`	- The port of the motor to enable/disable
+ *
+ *	These calls modify the `enable` bit of the motor. If a motor is disabled
+ *	its speed will be set to 0 and rendered unchangeable until the motor is
+ *	re-enabled. Any motor_* calls made to a disabled motor will immediately
+ *	return -1.
+ *
+*/
+void motor_enable(uint8_t port);
+void motor_disable(uint8_t port);
+/*
+ *	motor_togglePolarity
+ *
+ *	`port`	- The port to toggle polarity on
+ *
+ *	Flips the polarity of the motor on port `port` if its enabled. When a
+ *	motor's polarity is enabled the speed written to it is inverted as it
+ *	is passed to motorSet(). For example, if a motor's speed is 127 and it's
+ *	polarity is enabled, the speed passed to motorSet() is -127.
+ *
+*/
+int motor_togglePolarity(uint8_t port);
+/*
+ *	motor_setSpeed
+ *
+ *	`port`	- The port to set the speed of
+ *	`speed`	- The speed to set the motor to
+ *
+ *	Sets the motor to the given speed, if it is enabled. Keep in mind that
+ *	the change is not applied immediately, to apply the speeds you must
+ *	call motor_applySpeeds().
+ *
+*/
+int motor_setSpeed(uint8_t port,int8_t speed);
+/*
+ *	motor_setSpeedSum
+ *
+ *	`port`	- The port to set the speed of
+ *	`args`	- The number of arguments following this one
+ *	`...`	- `args` variables to use for setting the speed
+ *
+ *	Functions the same as motor_setSpeed(), but sets the speed to the sum
+ *	of the arguments passed after `args`.
+ *
+*/
+int motor_setSpeedSum(uint8_t port,uint8_t args,...);
+/*
+ *	TODO
+ *
+*/
+int motor_setSpeedPointer(uint8_t port,int8_t *sp);
+/*
+ *	motor_setThreshold
+ *
+ *	`port`		- The port to set the threshold of
+ *	`threshold`	- The threshold to give the motor
+ *
+ *	Sets a threshold for the motor's speed. This means that when calls to
+ *	set this motor's speed are made in the future, the speed will only be
+ *	applied if it's greater than `threshold` or less than -`threshold`.
+ *	Otherwise, the speed is set to 0.
+ *
+*/
+int motor_setThreshold(uint8_t port,uint8_t threshold);
+/*
+ *	motor_applySpeeds
+ *
+ *	Applys the speeds of the enabled motors to the actual motors.
+ *
+*/
+int motor_applySpeeds(void);
+
+#endif // _5106Z_H_