Aditya Mehrotra / MotorShield

Motor Shield Example code for 2.74 Class @ MIT

Dependents:   experiment_example motor_shield_example Lab3_experiment_example jumping_leg_clicky

MotorShield.h

Committer:
elijahsj
Date:
2020-08-26
Revision:
3:2f46953e7c8b
Parent:
1:4c3c2b7337a6
Child:
5:d2dffc88e94d

File content as of revision 3:2f46953e7c8b:

/* Library to interface with 2.74 Motor Shield
** Uses low level HAL libraries to enable high speed PWM 
*/

class MotorShield {
    
    public:
    
    MotorShield(int periodTicks);
    void motorAWrite(double duty_cycle, int direction);
    void motorBWrite(double duty_cycle, int direction);
    void motorCWrite(double duty_cycle, int direction);
    void motorDWrite(double duty_cycle, int direction);
    void changePeriod(int periodTicks); 
    
    private:
    
    int periodTickVal;
    void init();
    
};