Elijah Stanger-Jones / MotorShield

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Dependents:   experiment_example motor_shield_example Position_ctrl Lab3_experiment_example ... more

MotorShield.h@5:d2dffc88e94d, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 14:37:16 2020 +0000
Revision:
5:d2dffc88e94d
Parent:
3:2f46953e7c8b
Child:
7:e3a2ade56b79
PWM + Encoders work;

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 3:2f46953e7c8b 17 void changePeriod(int periodTicks);
elijahsj 0:f2ede00aed8a 18
elijahsj 0:f2ede00aed8a 19 private:
elijahsj 0:f2ede00aed8a 20
elijahsj 3:2f46953e7c8b 21 int periodTickVal;
elijahsj 3:2f46953e7c8b 22 void init();
elijahsj 0:f2ede00aed8a 23
elijahsj 0:f2ede00aed8a 24 };
elijahsj 0:f2ede00aed8a 25