BME SmartLab
/
_Smart_vacuum_0v2
Remote controlled robot with LEDs and Wemos motor shield
wemos_mc.cpp
- Committer:
- Makodan
- Date:
- 2017-09-27
- Revision:
- 0:51c02b15eb70
File content as of revision 0:51c02b15eb70:
#include "wemos_mc.h" /* setfreq() -- set PWM's frequency freq: PWM's frequency */ void setfreq(I2C& i2c, uint32_t freq){ char data[4]; data[0]=(((char)(freq >> 16)) & (char)0x0f); data[1]=((char)(freq >> 16)); data[2]=((char)(freq >> 8)); data[3]=((char)freq); //__disable_irq(); i2c.write( _ADDRESS, data, 4 ); //__enable_irq(); wait_ms(5); } /* setmotor() -- set motor motor: _MOTOR_A 0 Motor A _MOTOR_B 1 Motor B dir: _SHORT_BRAKE 0 _CW 1 _CCW 2 _STOP 3 _STANDBY 4 pwm_val: 0.00 - 100.00 (%) */ void setmotor(I2C& i2c,uint8_t motor, uint8_t dir, float pwm_val){ uint16_t _pwm_val = (uint16_t)pwm_val * 100; if(_pwm_val>10000) _pwm_val=10000; char data[4]; data[0] = ( motor | (char)0x10); data[1] = ( dir ); data[2] = ((char)(_pwm_val >> 8)); data[3] = ((char)_pwm_val); //__disable_irq(); i2c.write( _ADDRESS, data, 4 ); //__enable_irq(); wait_ms(5); } void setmotor(I2C& i2c, uint8_t motor, uint8_t dir){ setmotor(i2c,motor,dir,100); }