/* Control routines for a 3-phase motor from a hard disc drive. */

#pragma once

#include <fix16.h>

/* Initialize the timers for PWM operation. */
void motor_init();

void motor_set_phases(int p1, int p2, int p3);

/* Rotate to given angle.
 * Angle is in degrees. */
void motor_goto(int angle);

/* Rotate with acceleration and deceleration */
void motor_smoothgoto(int angle, int deg_per_sec2);

/* Get the current motor angle */
int motor_getangle();

/* Set the motor power limit (0-100). */
void motor_setpower(int limit);

/* Turn of all the motor drivers to reduce power usage. */
void motor_poweroff();