... more
« Back to documentation index
MD25 Class Reference
MD25 class.
More...
#include <MD25.h >
MD25 (PinName sda, PinName scl, int MD25_i2cAddress) Constructor for the MD25 connected to specified I2C pins at a specified address. MD25 (PinName sda, PinName scl) Constructor for the MD25 connected to specified I2C pins at default address. int32_t getEncoder1 (void) Read encoder for channel 1. int32_t getEncoder2 (void) Read encoder for channel 2. void setSpeedRegisters (uint8_t speed_1, uint8_t speed_2) set speed registers for both channels void setSpeed1Reg (uint8_t speed) set speed register for channel 1 void setSpeed2Reg (uint8_t speed) set speed register for channel 2 void stopMotor1 (void) switch motor 1 off void stopMotor2 (void) switch motor 2 off void stopMotors (void) switch both motors off uint32_t getSoftwareVersion (void) read current software version float getBatteryVolts (void) read battery voltage uint8_t getAccelerationRate (void) read acceleration rate uint8_t getMotor1Current (void) read current from motor channel 1 uint8_t getMotor2Current (void) read current from motor channel 2 uint8_t getMotor1Speed (void) read current speed register for motor channel 1 uint8_t getMotor2Speed (void) read current speed register for motor channel 2 uint8_t getMode (void) read current mode void setMode (uint8_t mode) set system mode void setAccelerationRate (uint8_t rate) set acceleration rate void setCommand (uint8_t command) send command to command register
Detailed Description
MD25 class.
Allow access to an MD25 Dual 12V 2.8A H-Bridge DC Motor Driver
MD25 motor_control(p9,p10);
or
MD25 motor_control(p9, p10, 0xB0);
Definition at line 59 of file MD25.h .
Constructor & Destructor Documentation
MD25 (
PinName
sda ,
PinName
scl ,
int
MD25_i2cAddress
)
Constructor for the MD25 connected to specified I2C pins at a specified address.
Parameters:
sda I2C data pin scl I2C clock pin i2cAddress I2C address
Definition at line 35 of file md25.cpp .
MD25 (
PinName
sda ,
PinName
scl
)
Constructor for the MD25 connected to specified I2C pins at default address.
Parameters:
sda I2C data pin scl I2C clock pin
Definition at line 30 of file md25.cpp .
Member Function Documentation
uint8_t getAccelerationRate
(
void
)
read acceleration rate
Returns: acceleration rate Definition at line 82 of file md25.cpp .
float getBatteryVolts
(
void
)
read battery voltage
Returns: voltage value in float format Definition at line 78 of file md25.cpp .
int32_t getEncoder1
(
void
)
Read encoder for channel 1.
Returns: 32-bit signed integer value of current encoder value for channel 1 Definition at line 44 of file md25.cpp .
int32_t getEncoder2
(
void
)
Read encoder for channel 2.
Returns: 32-bit signed integer value of current encoder value for channel 2 Definition at line 59 of file md25.cpp .
read current mode
Returns: mode value (0, 1, 2, or 3); default is mode 0 Definition at line 102 of file md25.cpp .
uint8_t getMotor1Current
(
void
)
read current from motor channel 1
Returns: current value Definition at line 94 of file md25.cpp .
uint8_t getMotor1Speed
(
void
)
read current speed register for motor channel 1
Returns: speed value (0->255); meaning dependent on mode Definition at line 86 of file md25.cpp .
uint8_t getMotor2Current
(
void
)
read current from motor channel 2
Returns: current value in apprx. units of 0.1amp Definition at line 98 of file md25.cpp .
uint8_t getMotor2Speed
(
void
)
read current speed register for motor channel 2
Returns: speed value (0->255); meaning dependent on mode Definition at line 90 of file md25.cpp .
uint32_t getSoftwareVersion
(
void
)
read current software version
Returns: version number Definition at line 74 of file md25.cpp .
void setAccelerationRate
(
uint8_t
rate )
set acceleration rate
Parameters:
Definition at line 147 of file md25.cpp .
void setCommand
(
uint8_t
command )
send command to command register
Parameters:
MD25_RESET_ENCODERS 0x20 MD25_DIABLE SPEED_REGULATION 0x30 MD25_ENABLE_SPEED_REGULATION 0x31 MD25_DISABLE_TIMEOUT 0x32 MD25_ENABLE_TIMEOUT 0x33
Definition at line 151 of file md25.cpp .
void setMode
(
uint8_t
mode )
set system mode
Parameters:
mode value (0, 1, 2, or 3)
Definition at line 142 of file md25.cpp .
void setSpeed1Reg
(
uint8_t
speed )
set speed register for channel 1
Effect of value is dependent on system mode
Parameters:
speed_1 speed register for channel 1 (0->255)
void setSpeed2Reg
(
uint8_t
speed )
set speed register for channel 2
Effect of value is dependent on system mode
Parameters:
speed_2 speed register for channel 2 (0->255)
void setSpeedRegisters
(
uint8_t
speed_1 ,
uint8_t
speed_2
)
set speed registers for both channels
Effect of value is dependent on system mode
Parameters:
speed_1 speed register for channel 1 (0->255) speed_2 speed register for channel 2 (0->255)
Definition at line 106 of file md25.cpp .
switch motor 1 off
Definition at line 111 of file md25.cpp .
switch motor 2 off
Definition at line 124 of file md25.cpp .
switch both motors off
Definition at line 137 of file md25.cpp .
1.7.2