motor.h

Go to the source code for motor.h

Includes

• #include "gpio.h"

Functions

• InitializeTLEMotor
• InitializeServoMotor
• SetMotor

Function Documention

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InitializeTLEMotor

Initializes a motor on a pair of pins for the TLE5205-2

tMotor *InitializeTLEMotor(tPin a, tPin b, tBoolean brake, tBoolean invert);

Parameters:

• a Pin that should plug into the IN1 motor line
• b Pin that should plug into the IN2 motor line
• brake Flag to enable breaking when the motor is set to 0 speed
• invert Flag to switch the direction that the motor will turn

Returns:

• Pointer to an initialized tMotor, can be used by the SetMotor function

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InitializeServoMotor

Initializes a motor on a single pin using rc pwm input

tMotor *InitializeServoMotor(tPin pin, tBoolean invert);

Parameters:

• pin PWM signal line to motor
• invert Flag to switch the direction that the motor will turn

Returns:

• Pointer to an initialized tMotor, can be used by the SetMotor function

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SetMotor

Sets a motor speed

void SetMotor(tMotor *mtr, float speed);

Parameters:

• mtr Pointer to an initialized tMotor, returned by InitializeMotor
• speed Float on range [-1, 1] where -1 means maximum backward speed and 1 means maximum forward speed

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