Consolidating pi hat daemons

MotorHatD/motorHat.h

@@ -0,0 +1,58 @@
+/* Constants and methodswe'll need for the pi hat.
+ * Methods and header definitions from a RPI forum thread,
+ * specifically, the post by garagebrewer:
+ * https://www.raspberrypi.org/forums/viewtopic.php?t=112415&p=770234
+ */
+#define word    unsigned short
+
+#define ADAFRUIT_MOTORHAT       0x60
+
+#define PWM_M1_PWM      8
+#define PWM_M1_IN2      9
+#define PWM_M1_IN1      10
+#define PWM_M2_PWM      13
+#define PWM_M2_IN2      12
+#define PWM_M2_IN1      11
+#define PWM_M3_PWM      2
+#define PWM_M3_IN2      3
+#define PWM_M3_IN1      4
+#define PWM_M4_PWM      7
+#define PWM_M4_IN2      6
+#define PWM_M4_IN1      5
+
+#define PWM_FREQUENCY   1600.0
+#define PWM_PRESCALE    0xFE
+
+#define PWM_MODE1       0x00
+#define PWM_MODE2       0x01
+#define PWM_LED0_ON_L   0x06
+#define PWM_LED0_ON_H   0x07
+#define PWM_LED0_OFF_L  0x08
+#define PWM_LED0_OFF_H  0x09
+
+#define PWM_RESTART     0x80
+#define PWM_SLEEP       0x10
+#define PWM_ALLCALL     0x01
+#define PWM_INVRT       0x10
+#define PWM_OUTDRV      0x04
+
+#define PWM_ALL_LED_ON_L        0xFA
+#define PWM_ALL_LED_ON_H        0xFB
+#define PWM_ALL_LED_OFF_L       0xFC
+#define PWM_ALL_LED_OFF_H       0xFD
+
+#define MOTOR_FORWARD       12
+#define MOTOR_BACK          2
+#define MOTOR_BRAKE         3
+#define MOTOR_RELEASE       4
+#define MOTOR_RIGHT         5
+#define MOTOR_LEFT          6
+#define MOTOR_PIVOT_RIGHT    7
+#define MOTOR_PIVOT_LEFT     8
+
+void setAllPWM(word i2c, word on, word off);
+void setPWM(word i2c, word pin, word on, word off);
+void setPin(word i2c, word pin, word value);
+void runMotor(word i2c, word motor, word command);
+void setSpeed(word i2c, word motor, word speed);
+void initMotor(word i2c, word motor);