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:
- 7:e3a2ade56b79
- Parent:
- 5:d2dffc88e94d
File content as of revision 7:e3a2ade56b79:
/* Library to interface with 2.74 Motor Shield ** Uses low level HAL libraries to enable high speed PWM ** Use as follows: ** - Create shield object and specify PWM period for the motors ** - Set the duty cycle and direction for each motor */ class MotorShield { public: MotorShield(int periodTicks); void motorAWrite(float duty_cycle, int direction); void motorBWrite(float duty_cycle, int direction); void motorCWrite(float duty_cycle, int direction); void motorDWrite(float duty_cycle, int direction); uint32_t readCurrentA(); uint32_t readCurrentB(); uint32_t readCurrentC(); uint32_t readCurrentD(); void changePeriod(int periodTicks); private: int periodTickVal; void init(); };