Aditya Mehrotra / MotorShield_gen2

Updated for the next revision of the motor board

MotorShield.h@7:e3a2ade56b79, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 23:42:07 2020 +0000
Revision:
7:e3a2ade56b79
Parent:
5:d2dffc88e94d 
Fully functional with high frequency loop

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elijahsj 0:f2ede00aed8a 1 /* Library to interface with 2.74 Motor Shield
elijahsj 3:2f46953e7c8b 2 ** Uses low level HAL libraries to enable high speed PWM
elijahsj 5:d2dffc88e94d 3 ** Use as follows:
elijahsj 5:d2dffc88e94d 4 ** - Create shield object and specify PWM period for the motors
elijahsj 5:d2dffc88e94d 5 ** - Set the duty cycle and direction for each motor
elijahsj 0:f2ede00aed8a 6 */
elijahsj 0:f2ede00aed8a 7
elijahsj 0:f2ede00aed8a 8 class MotorShield {
elijahsj 0:f2ede00aed8a 9
elijahsj 0:f2ede00aed8a 10 public:
elijahsj 0:f2ede00aed8a 11
elijahsj 3:2f46953e7c8b 12 MotorShield(int periodTicks);
elijahsj 5:d2dffc88e94d 13 void motorAWrite(float duty_cycle, int direction);
elijahsj 5:d2dffc88e94d 14 void motorBWrite(float duty_cycle, int direction);
elijahsj 5:d2dffc88e94d 15 void motorCWrite(float duty_cycle, int direction);
elijahsj 5:d2dffc88e94d 16 void motorDWrite(float duty_cycle, int direction);
elijahsj 7:e3a2ade56b79 17 uint32_t readCurrentA();
elijahsj 7:e3a2ade56b79 18 uint32_t readCurrentB();
elijahsj 7:e3a2ade56b79 19 uint32_t readCurrentC();
elijahsj 7:e3a2ade56b79 20 uint32_t readCurrentD();
elijahsj 3:2f46953e7c8b 21 void changePeriod(int periodTicks);
elijahsj 0:f2ede00aed8a 22
elijahsj 0:f2ede00aed8a 23 private:
elijahsj 0:f2ede00aed8a 24
elijahsj 3:2f46953e7c8b 25 int periodTickVal;
elijahsj 3:2f46953e7c8b 26 void init();
elijahsj 0:f2ede00aed8a 27
elijahsj 0:f2ede00aed8a 28 };
elijahsj 0:f2ede00aed8a 29