Motor

functions to control motor operations More...

Collaboration diagram for Motor:

Macros
#define	PWM_SLICES   8

Typedefs
typedef enum mbot_motor_state	mbot_motor_state
typedef enum mbot_motor_pins	mbot_motor_pins

Enumerations
enum	mbot_motor_state { OFF , ON }
enum	mbot_motor_pins {   M0_EN = M0_PWM_PIN , M0_PH = M0_DIR_PIN , M1_EN = M1_PWM_PIN , M1_PH = M1_DIR_PIN ,   M2_EN = M2_PWM_PIN , M2_PH = M2_DIR_PIN , M3_EN = M3_PWM_PIN , M3_PH = M3_DIR_PIN }

Functions
int	mbot_motor_init_freq (uint8_t ch, uint16_t freq)
	Initialize motor with specific frequency. More...
void	mbot_motor_adc_init ()
	Initialize ADC3 to read motor driver voltage. Must be called before mbot_motor_read_voltage.
int	mbot_motor_init (uint8_t ch)
	Initialize motor with default frequency. More...
int	mbot_motor_cleanup (uint8_t ch)
	Cleanup motor settings. More...
int	mbot_motor_set_duty (uint8_t ch, float duty)
	Set duty cycle for the motor using an int16_t value. More...
float	mbot_motor_read_voltage ()
	Returns voltage for motor driver read from ADC3 on Pico+ boards. More...

Detailed Description

functions to control motor operations

<mbot/motor/motor.h>

Function Documentation

mbot_motor_cleanup()

int mbot_motor_cleanup

(

uint8_t

ch

)

Cleanup motor settings.

Parameters

ch	Channel number of the motor

Returns

int Returns MBOT_OK on success, MBOT_ERROR on failure

mbot_motor_init()

int mbot_motor_init

(

uint8_t

ch

)

Initialize motor with default frequency.

Parameters

ch	Channel number of the motor

Returns

int Returns MBOT_OK on success, MBOT_ERROR on failure

mbot_motor_init_freq()

int mbot_motor_init_freq	(	uint8_t	ch,
		uint16_t	freq
	)

Initialize motor with specific frequency.

Parameters

ch	Channel number of the motor
freq	Frequency to set for the PWM slice

Returns

int Returns MBOT_OK on success, MBOT_ERROR on failure

mbot_motor_read_voltage()

float mbot_motor_read_voltage

(

)

Returns voltage for motor driver read from ADC3 on Pico+ boards.

Returns

float motor driver voltage in volts

mbot_motor_set_duty()

int mbot_motor_set_duty	(	uint8_t	ch,
		float	duty
	)

Set duty cycle for the motor using an int16_t value.

Parameters

ch	Channel number of the motor
duty	Duty cycle value to set

Returns

int Returns MBOT_OK on success, MBOT_ERROR on failure

Set duty cycle for the motor using a float value

Parameters

ch	Channel number of the motor
duty	Duty cycle value to set

Returns

int Returns MBOT_OK on success, MBOT_ERROR on failure