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<li class="navelem"><a class="el" href="dir_bc0718b08fb2015b8e59c47b2805f60c.html">libraries</a></li> </ul>
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<a href="motor_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#ifndef MOTOR_H_</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#define MOTOR_H_</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classmotor.html"> 35</a></span> <span class="keyword">class </span><a class="code" href="classmotor.html">motor</a> {</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> </div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classmotor.html#a2a035f9f051ce59d705654966dd95851"> 38</a></span>  <a class="code" href="classmotor.html#a2a035f9f051ce59d705654966dd95851">motor</a>(uint8_t pwm_pin1, uint8_t pwm_pin2, uint8_t fb_pin, uint8_t en_pin,</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  uint8_t sf_pin, uint16_t maxSpeed, uint16_t minSpeed) {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a> = pwm_pin1;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a> = pwm_pin2;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a> = maxSpeed;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a> = minSpeed;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a> = fb_pin;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a> = en_pin;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a> = sf_pin;</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>();</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7"> 55</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">init_pin</a>() {</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  pinMode(<a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, OUTPUT);</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  pinMode(<a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, OUTPUT);</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="comment">/* Feedback and sense */</span></div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  pinMode(<a class="code" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a>, INPUT);</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  pinMode(<a class="code" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a>,INPUT);</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">/* Enable Motors */</span></div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  pinMode(<a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a>, OUTPUT);</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  }</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f"> 95</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">init_timer</a>(uint8_t timer, uint16_t divisor) {</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">if</span> (timer == 0) {</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">if</span> (divisor == 1) {</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  TCCR0B = (TCCR0B & B11111000) | B00000001;</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 8) {</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  TCCR0B = (TCCR0B & B11111000) | B00000010;</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 64) {</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  TCCR0B = (TCCR0B & B11111000) | B00000011;</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 256) {</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  TCCR0B = (TCCR0B & B11111000) | B00000100;</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 1024) {</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  TCCR0B = (TCCR0B & B11111000) | B00000101;</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">if</span> (timer == 1) {</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordflow">if</span> (divisor == 1) {</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  TCCR1B = (TCCR1B & B11111000) | B00000001;</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 8) {</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  TCCR1B = (TCCR1B & B11111000) | B00000010;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 64) {</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  TCCR1B = (TCCR1B & B11111000) | B00000011;</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 256) {</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  TCCR1B = (TCCR1B & B11111000) | B00000100;</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 1024) {</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  TCCR1B = (TCCR1B & B11111000) | B00000101;</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  }</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">if</span> (timer == 2) {</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">if</span> (divisor == 1) {</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  TCCR2B = (TCCR2B & B11111000) | B00000001;</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 8) {</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  TCCR2B = (TCCR2B & B11111000) | B00000010;</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 32){</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  TCCR2B = (TCCR2B & B11111000) | B00000011;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 64) {</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  TCCR2B = (TCCR2B & B11111000) | B00000100;</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 128) {</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  TCCR2B = (TCCR2B & B11111000) | B00000101;</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 256) {</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  TCCR2B = (TCCR2B & B11111000) | B00000110;</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (divisor == 1024) {</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  TCCR2B = (TCCR2B & B11111000) | B00000111;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4"> 146</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">enable</a>() {</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  digitalWrite(<a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a>, HIGH);</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9"> 155</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">disenable</a>() {</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  digitalWrite(<a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a>, LOW);</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  }</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span> </div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classmotor.html#ae106093068947e7b5453cfb70c06e83d"> 165</a></span>  uint16_t <a class="code" href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">get_load</a>() {</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">return</span> analogRead(<a class="code" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a>);</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302"> 176</a></span>  uint8_t <a class="code" href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">get_fault</a>()</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  {</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">return</span> digitalRead(<a class="code" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a>);</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  }</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span> </div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084"> 188</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">move</a>(int16_t <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>) {</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> == 0) {</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>();</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">return</span>;</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> >= 0) {</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> + <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a>;</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> > <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>)</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>;</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  analogWrite(<a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, 0);</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  analogWrite(<a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>);</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = -<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>;</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> + <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a>;</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">if</span> (<a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> > <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>)</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a> = <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>;</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  analogWrite(<a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, <a class="code" href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a>);</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  analogWrite(<a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, 0);</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  }</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  }</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c"> 214</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">stop</a>() {</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  analogWrite(<a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, 0);</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  analogWrite(<a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, 0);</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  }</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span> </div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classmotor.html#afcebea9102569fa416a2872f0d33b32e"> 226</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">set_min</a>(uint16_t min) {</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a> = min;</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  }</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="comment">/**************************************************************************/</span></div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15"> 237</a></span>  <span class="keywordtype">void</span> <a class="code" href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">set_max</a>(uint16_t max) {</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a> = max;</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  }</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span> </div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="keyword">private</span>:</div><div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a"> 242</a></span>  uint8_t <a class="code" href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">_pwm_pin1</a>, <a class="code" href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">_pwm_pin2</a>, <a class="code" href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">_fb_pin</a>, <a class="code" href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">_en_pin</a>, <a class="code" href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">_sf_pin</a>;</div><div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca"> 243</a></span>  int16_t <a class="code" href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">_maxSpeed</a>, <a class="code" href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">_minSpeed</a>;</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span> };</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="preprocessor">#endif </span><span class="comment">/* MOTOR_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="classmotor_html_a2a035f9f051ce59d705654966dd95851"><div class="ttname"><a href="classmotor.html#a2a035f9f051ce59d705654966dd95851">motor::motor</a></div><div class="ttdeci">motor(uint8_t pwm_pin1, uint8_t pwm_pin2, uint8_t fb_pin, uint8_t en_pin, uint8_t sf_pin, uint16_t maxSpeed, uint16_t minSpeed)</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00038">motor.h:38</a></div></div>
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<div class="ttc" id="classmotor_html_ae106093068947e7b5453cfb70c06e83d"><div class="ttname"><a href="classmotor.html#ae106093068947e7b5453cfb70c06e83d">motor::get_load</a></div><div class="ttdeci">uint16_t get_load()</div><div class="ttdoc">Calculate the load of DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00165">motor.h:165</a></div></div>
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<div class="ttc" id="classmotor_html_a7a8635dc94a8eb9a410b5dff9c658d09"><div class="ttname"><a href="classmotor.html#a7a8635dc94a8eb9a410b5dff9c658d09">motor::_maxSpeed</a></div><div class="ttdeci">int16_t _maxSpeed</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00243">motor.h:243</a></div></div>
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<div class="ttc" id="classmotor_html_abee35525f6340b3a8118e8711a6033b4"><div class="ttname"><a href="classmotor.html#abee35525f6340b3a8118e8711a6033b4">motor::enable</a></div><div class="ttdeci">void enable()</div><div class="ttdoc">Enable motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00146">motor.h:146</a></div></div>
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<div class="ttc" id="globals_8h_html_a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87"><div class="ttname"><a href="globals_8h.html#a011a2a3681d95bf0def772367ba6ad33a3d18b3fd8daa40d26a07452c9de67a87">speed</a></div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00026">globals.h:26</a></div></div>
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<div class="ttc" id="classmotor_html_ad3782417f957c2c0806bb37df3709b4a"><div class="ttname"><a href="classmotor.html#ad3782417f957c2c0806bb37df3709b4a">motor::_sf_pin</a></div><div class="ttdeci">uint8_t _sf_pin</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
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<div class="ttc" id="classmotor_html_a9881112348f2cf0d338fc47fefd66f15"><div class="ttname"><a href="classmotor.html#a9881112348f2cf0d338fc47fefd66f15">motor::set_max</a></div><div class="ttdeci">void set_max(uint16_t max)</div><div class="ttdoc">Update the maximum speed of DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00237">motor.h:237</a></div></div>
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<div class="ttc" id="classmotor_html_acc3ee3c3243453a974ca0e9f96e93bce"><div class="ttname"><a href="classmotor.html#acc3ee3c3243453a974ca0e9f96e93bce">motor::_pwm_pin2</a></div><div class="ttdeci">uint8_t _pwm_pin2</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
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<div class="ttc" id="classmotor_html_aad1f7bbc1a73c605947ce4a80a8019f8"><div class="ttname"><a href="classmotor.html#aad1f7bbc1a73c605947ce4a80a8019f8">motor::_pwm_pin1</a></div><div class="ttdeci">uint8_t _pwm_pin1</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
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<div class="ttc" id="classmotor_html_a0a0c29d8c7332855eba796dc9d17d516"><div class="ttname"><a href="classmotor.html#a0a0c29d8c7332855eba796dc9d17d516">motor::_fb_pin</a></div><div class="ttdeci">uint8_t _fb_pin</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
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<div class="ttc" id="classmotor_html_a14521e2beea4039acb94a5a20f3282ca"><div class="ttname"><a href="classmotor.html#a14521e2beea4039acb94a5a20f3282ca">motor::_minSpeed</a></div><div class="ttdeci">int16_t _minSpeed</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00243">motor.h:243</a></div></div>
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<div class="ttc" id="classmotor_html_a9395e462f009a775c5fbe11f4c39150c"><div class="ttname"><a href="classmotor.html#a9395e462f009a775c5fbe11f4c39150c">motor::stop</a></div><div class="ttdeci">void stop()</div><div class="ttdoc">Stop moving the DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00214">motor.h:214</a></div></div>
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<div class="ttc" id="classmotor_html_a1aa585ea14305952469f95cb26f3ad2f"><div class="ttname"><a href="classmotor.html#a1aa585ea14305952469f95cb26f3ad2f">motor::init_timer</a></div><div class="ttdeci">void init_timer(uint8_t timer, uint16_t divisor)</div><div class="ttdoc">Set timer frequency, for timers 0, 1, 2. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00095">motor.h:95</a></div></div>
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<div class="ttc" id="classmotor_html_a7c7a40ef8985fae55eda9b9254d760a7"><div class="ttname"><a href="classmotor.html#a7c7a40ef8985fae55eda9b9254d760a7">motor::init_pin</a></div><div class="ttdeci">void init_pin()</div><div class="ttdoc">Initialize pins of DC motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00055">motor.h:55</a></div></div>
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<div class="ttc" id="classmotor_html_aa8dc53ecf02031b944ef6658c2b14fde"><div class="ttname"><a href="classmotor.html#aa8dc53ecf02031b944ef6658c2b14fde">motor::_en_pin</a></div><div class="ttdeci">uint8_t _en_pin</div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00242">motor.h:242</a></div></div>
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<div class="ttc" id="classmotor_html_ae21d592f52c6aa57a641ca3e99cf52b9"><div class="ttname"><a href="classmotor.html#ae21d592f52c6aa57a641ca3e99cf52b9">motor::disenable</a></div><div class="ttdeci">void disenable()</div><div class="ttdoc">Disable motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00155">motor.h:155</a></div></div>
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<div class="ttc" id="classmotor_html"><div class="ttname"><a href="classmotor.html">motor</a></div><div class="ttdoc">Class that functions for interacting with a Motor Driver Carrier. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00035">motor.h:35</a></div></div>
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<div class="ttc" id="classmotor_html_a3fb941091e69025a6ed7b66b2458b302"><div class="ttname"><a href="classmotor.html#a3fb941091e69025a6ed7b66b2458b302">motor::get_fault</a></div><div class="ttdeci">uint8_t get_fault()</div><div class="ttdoc">Get the status flag of motor driver. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00176">motor.h:176</a></div></div>
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<div class="ttc" id="classmotor_html_a01f848ad7e9ff16b4cb61174d3a5a084"><div class="ttname"><a href="classmotor.html#a01f848ad7e9ff16b4cb61174d3a5a084">motor::move</a></div><div class="ttdeci">void move(int16_t speed)</div><div class="ttdoc">Move the DC motor with constant voltage (~speed) </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00188">motor.h:188</a></div></div>
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<div class="ttc" id="classmotor_html_afcebea9102569fa416a2872f0d33b32e"><div class="ttname"><a href="classmotor.html#afcebea9102569fa416a2872f0d33b32e">motor::set_min</a></div><div class="ttdeci">void set_min(uint16_t min)</div><div class="ttdoc">Update the minimum speed of DC motor. </div><div class="ttdef"><b>Definition:</b> <a href="motor_8h_source.html#l00226">motor.h:226</a></div></div>
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