/****************************************************************************

Header file for DCMotor

based on the Gen 2 Events and Services Framework

****************************************************************************/

#ifndef DCMotor_H
#define DCMotor_H

// Event Definitions
#include "ES_Configure.h" /* gets us event definitions */
#include "ES_Framework.h" /* gets ES_Framework */
#include "ES_Types.h" /* gets bool type for returns */
//#include "PWM16Tiva.h"

// typedefs for the states

// State definitions for use with the query function\

// Public Function Prototypes

void InitMotors(void);
void StopRobot(void);
void SetTargetPosition(uint16_t GoalX, uint16_t GoalY);
void SetTargetHeading(int GoalTheta);
void SetRobotDir (uint8_t Dir);
void SetRobotSpeed(uint8_t which, uint16_t RPM);
void printRPM(void);
#endif /* DCMotor_H */