Elijah Stanger-Jones / MotorShield

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Dependents:   experiment_example motor_shield_example Position_ctrl Lab3_experiment_example ... more

Diff: MotorShield.h

Revision:
5:d2dffc88e94d
Parent:
3:2f46953e7c8b
Child:
7:e3a2ade56b79
diff -r 2b45973bdc67 -r d2dffc88e94d MotorShield.h
--- a/MotorShield.h	Wed Aug 26 02:49:34 2020 +0000
+++ b/MotorShield.h	Wed Aug 26 14:37:16 2020 +0000
@@ -1,5 +1,8 @@
 /* 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 {
@@ -7,10 +10,10 @@
     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 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);
     void changePeriod(int periodTicks); 
     
     private: