Routines to control a MD03 H-bridge module.
MD03.h
- Committer:
- jimherd
- Date:
- 2015-11-07
- Revision:
- 1:0afd9f1a4e4f
- Parent:
- 0:7efb3e6f7c7a
File content as of revision 1:0afd9f1a4e4f:
/* */ #include "mbed.h" #ifndef MD03_H #define MD03_H /* * list of registers */ #define MD03_COMMAND 0x00 #define MD03_STATUS 0x01 #define MD03_SPEED 0x02 #define MD03_ACCELERATION 0x03 #define MD03_TEMPERATURE 0x04 #define MD03_MOTOR_CURRENT 0x05 #define MD03_SOFTWARE_REV 0x07 /* * list of command that can be sent to command register */ #define MD03_CMD_STOP 0x00 #define MD03_CMD_FORWARD 0x01 #define MD03_CMD_REVERSE 0x02 class MD03 { public: MD03(PinName sda, PinName scl, int i2cAddress); void set_speed(int speed); void set_accel(int acceleration); void stop(void); void move_forward(void); void move_reverse(void); char read_reg(int register); protected: I2C _i2c; char address; char _writeOpcode, _readOpcode; }; #endif