Reiko Randoja
/
A3930
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A3930 Class Reference
Class for controlling motors trough PCA9555. More...
#include <a3930.h>
Public Member Functions | |
| A3930 (PinName PWMpin, PCA9555 *ioExt, unsigned int dirPin, unsigned int brakePin, unsigned int coastPin, PinName tachoPin, PinName diroPin) | |
| Create an instance of the motor connected to specfied pins, and IO-expander. | |
| void | setSpeed (int newSpeed) |
| Set speed setpoint. | |
| int | getSpeed () |
| Get current speed setpoint value. | |
| void | pid () |
| Method that calculates appropriate PWM values for keeping motor speed close to setpoint This method shoud be called periodically (60Hz) | |
| void | setPWM (float newPWM) |
| Set pwm duty cycle. | |
Detailed Description
Class for controlling motors trough PCA9555.
Definition at line 9 of file a3930.h.
Constructor & Destructor Documentation
| A3930 | ( | PinName | PWMpin, |
| PCA9555 * | ioExt, | ||
| unsigned int | dirPin, | ||
| unsigned int | brakePin, | ||
| unsigned int | coastPin, | ||
| PinName | tachoPin, | ||
| PinName | diroPin | ||
| ) |
Create an instance of the motor connected to specfied pins, and IO-expander.
- Parameters:
-
PWMpin Pin for PWM output *ioExt Pointer to IO-expander object dir1Pin Direction pin 1 number (on IO-expander) dir2Pin Direction pin 2 number (on IO-expander) encA Encoder pin encB Encoder pin
Member Function Documentation
| void pid | ( | ) |
| void setPWM | ( | float | newPWM ) |
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