Output module functions

Functions for accessing and modifying output module features. More...

Functions
void	SetMotorPwnFreq (byte n)
	Set motor regulation frequency.
void	SetMotorRegulationTime (byte n)
	Set regulation time.
void	SetMotorRegulationOptions (byte n)
	Set regulation options.
void	OnFwdSyncPID (byte outputs, char pwr, char turnpct, byte p, byte i, byte d)
	Run motors forward synchronised with PID factors.
void	OnFwdSyncExPID (byte outputs, char pwr, char turnpct, const byte reset, byte p, byte i, byte d)
	Run motors forward synchronised and reset counters with PID factors.
void	OnRevSyncPID (byte outputs, char pwr, char turnpct, byte p, byte i, byte d)
	Run motors backward synchronised with PID factors.
void	OnRevSyncExPID (byte outputs, char pwr, char turnpct, const byte reset, byte p, byte i, byte d)
	Run motors backward synchronised and reset counters with PID factors.
void	OnFwdRegPID (byte outputs, char pwr, byte regmode, byte p, byte i, byte d)
	Run motors forward regulated with PID factors.
void	OnFwdRegExPID (byte outputs, char pwr, byte regmode, const byte reset, byte p, byte i, byte d)
	Run motors forward regulated and reset counters with PID factors.
void	OnRevRegPID (byte outputs, char pwr, byte regmode, byte p, byte i, byte d)
	Run motors reverse regulated with PID factors.
void	OnRevRegExPID (byte outputs, char pwr, byte regmode, const byte reset, byte p, byte i, byte d)
	Run motors backward regulated and reset counters with PID factors.
void	Off (byte outputs)
	Turn motors off.
void	OffEx (byte outputs, const byte reset)
	Turn motors off and reset counters.
void	Coast (byte outputs)
	Coast motors.
void	CoastEx (byte outputs, const byte reset)
	Coast motors and reset counters.
void	Float (byte outputs)
	Float motors.
void	OnFwd (byte outputs, char pwr)
	Run motors forward.
void	OnFwdEx (byte outputs, char pwr, const byte reset)
	Run motors forward and reset counters.
void	OnRev (byte outputs, char pwr)
	Run motors backward.
void	OnRevEx (byte outputs, char pwr, const byte reset)
	Run motors backward and reset counters.
void	OnFwdReg (byte outputs, char pwr, byte regmode)
	Run motors forward regulated.
void	OnFwdRegEx (byte outputs, char pwr, byte regmode, const byte reset)
	Run motors forward regulated and reset counters.
void	OnRevReg (byte outputs, char pwr, byte regmode)
	Run motors forward regulated.
void	OnRevRegEx (byte outputs, char pwr, byte regmode, const byte reset)
	Run motors backward regulated and reset counters.
void	OnFwdSync (byte outputs, char pwr, char turnpct)
	Run motors forward synchronised.
void	OnFwdSyncEx (byte outputs, char pwr, char turnpct, const byte reset)
	Run motors forward synchronised and reset counters.
void	OnRevSync (byte outputs, char pwr, char turnpct)
	Run motors backward synchronised.
void	OnRevSyncEx (byte outputs, char pwr, char turnpct, const byte reset)
	Run motors backward synchronised and reset counters.
void	RotateMotor (byte outputs, char pwr, long angle)
	Rotate motor.
void	RotateMotorPID (byte outputs, char pwr, long angle, byte p, byte i, byte d)
	Rotate motor with PID factors.
void	RotateMotorEx (byte outputs, char pwr, long angle, char turnpct, bool sync, bool stop)
	Rotate motor Ex.
void	RotateMotorExPID (byte outputs, char pwr, long angle, char turnpct, bool sync, bool stop, byte p, byte i, byte d)
	Rotate motor Ex with PID factors.
void	ResetTachoCount (byte outputs)
	Reset tachometer counter.
void	ResetBlockTachoCount (byte outputs)
	Reset block-relative counter.
void	ResetRotationCount (byte outputs)
	Reset program-relative counter.
void	ResetAllTachoCounts (byte outputs)
	Reset all tachometer counters.
void	SetOutput (byte outputs, byte field1, variant val1,..., byte fieldN, variant valN)
	Set output fields.
variant	GetOutput (byte output, const byte field)
	Get output field value.
byte	MotorMode (byte output)
	Get motor mode.
char	MotorPower (byte output)
	Get motor power level.
char	MotorActualSpeed (byte output)
	Get motor actual speed.
long	MotorTachoCount (byte output)
	Get motor tachometer counter.
long	MotorTachoLimit (byte output)
	Get motor tachometer limit.
byte	MotorRunState (byte output)
	Get motor run state.
char	MotorTurnRatio (byte output)
	Get motor turn ratio.
byte	MotorRegulation (byte output)
	Get motor regulation mode.
bool	MotorOverload (byte output)
	Get motor overload status.
byte	MotorRegPValue (byte output)
	Get motor P value.
byte	MotorRegIValue (byte output)
	Get motor I value.
byte	MotorRegDValue (byte output)
	Get motor D value.
long	MotorBlockTachoCount (byte output)
	Get motor block-relative counter.
long	MotorRotationCount (byte output)
	Get motor program-relative counter.
byte	MotorOutputOptions (byte output)
	Get motor options.
byte	MotorMaxSpeed (byte output)
	Get motor max speed.
byte	MotorMaxAcceleration (byte output)
	Get motor max acceleration.
byte	MotorPwnFreq ()
	Get motor regulation frequency.
byte	MotorRegulationTime ()
	Get motor regulation time.
byte	MotorRegulationOptions ()
	Get motor regulation options.
void	PosRegEnable (byte output, byte p=PID_3, byte i=PID_1, byte d=PID_1)
	Enable absolute position regulation with PID factors.
void	PosRegSetAngle (byte output, long angle)
	Change the current value for set angle.
void	PosRegAddAngle (byte output, long angle_add)
	Add to the current value for set angle.
void	PosRegSetMax (byte output, byte max_speed, byte max_acceleration)
	Set maximum limits.

Detailed Description

Functions for accessing and modifying output module features.