jim herd / MD25

Library of routines to drive a MD25 motor control board

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API Documentation at this revision

Revision 2:e575d390c730, committed 2011-05-20

Comitter:
jimherd
Date:
Fri May 20 22:28:50 2011 +0000
Parent:
1:8046f460a725
Commit message:
Updated documentation

Changed in this revision

MD25.h Show annotated file Show diff for this revision Revisions of this file 
diff -r 8046f460a725 -r e575d390c730 MD25.h
--- a/MD25.h	Fri May 20 21:18:59 2011 +0000
+++ b/MD25.h	Fri May 20 22:28:50 2011 +0000
@@ -130,25 +130,68 @@
     
     /** read battery voltage
      *
-     * Actual voltage = (10 * value)
-     *
-     * @return   voltage value in units of 0.1v
+     * @return   voltage value in float format
      */        
     float getBatteryVolts(void);
     
     /** read acceleration rate
      *
      * @return   acceleration rate
-     */          
+     */
     uint8_t getAccelerationRate(void);
+
+    /** read current from motor channel 1
+     *
+     * @return   current value
+     */    
+    uint8_t getMotor1Current(void);
     
-    uint8_t getMotor1Current(void);
+    /** read current from motor channel 2
+     *
+     * @return   current value in apprx. units of 0.1amp
+     */        
     uint8_t getMotor2Current(void);
+    
+    /** read current speed register for motor channel 1
+     *
+     * @return   speed value (0->255); meaning dependent on mode
+     */       
     uint8_t getMotor1Speed(void);
+    
+    /** read current speed register for motor channel 2
+     *
+     * @return   speed value (0->255); meaning dependent on mode
+     */           
     uint8_t getMotor2Speed(void);
+    
+    /** read current mode
+     *
+     * @return   mode value (0, 1, 2, or 3); default is mode 0
+     */
     uint8_t getMode(void);
+    
+    /** set system mode
+     *
+     * @param   mode     value (0, 1, 2, or 3)
+     */    
     void setMode(uint8_t mode);
+    
+    /** set acceleration rate
+     *
+     * @param   rate   acceleration rate
+     */      
     void setAccelerationRate(uint8_t rate);
+    
+    /** send command to command register
+     *
+     * @param   command   command code
+     *
+     * MD25_RESET_ENCODERS             0x20
+     * MD25_DIABLE SPEED_REGULATION    0x30
+     * MD25_ENABLE_SPEED_REGULATION    0x31
+     * MD25_DISABLE_TIMEOUT            0x32
+     * MD25_ENABLE_TIMEOUT             0x33
+     */      
     void setCommand(uint8_t command);
 
 private: