Motor Class Reference

An object for the control of motors using the TI DRV8833 dual H-bridge motor driver IC. More...

Public Member Functions
	Motor ()
	Motor (int intIn1, int intIn2)
void	setMotorSpeed (int intIn)
int	getMotorSpeed ()
bool	isMotorRunning ()
void	stopMotor ()
void	startMotor ()

Detailed Description

This object encapsulates methods for the control of motors using TI DRV8833 dual H-bridge motor driver IC. This implementation was created using the Pololu carrier board available at http://www.pololu.com/catalog/product/2130. This object encapsulates methods to set the speed of a motor, as well as methods to start and stop the motor.

Constructor & Destructor Documentation

Motor::Motor

(

)

A default constructor requiring no arguments. If this constructor is used, then pins six and nine are used for the motor controller.

Returns

a Motor object using pins six and nine

Motor::Motor	(	int	intIn1,
		int	intIn2
	)

A constructor requiring inputs for the pins to be used for the motor controller.

Parameters

intIn1	an integer value representing the first pin used to connect to the motor controller
intIn2	an integer value representing the second pin used to connect to the motor controller

Returns

a Motor object using the pins specified

Member Function Documentation

int Motor::getMotorSpeed

(

)

This method returns the value of the current speed for a Motor object. This value cannot be used to authoritatively determine whether or not the motor is running. To authoritatively determine whether or not the motor is running, call isMotorRunning().

Returns

an integer between -100 and 100(inclusive) representing the value of the current speed for the Motor object.

bool Motor::isMotorRunning

(

)

This method returns the current run state of the motor(true is running, false is not running).

Returns

a boolean value representing whether or not the motor is running.

void Motor::setMotorSpeed

(

int

intIn

)

A method to set the speed of the motor. This method does not start or stop the motor, however, if the motor is already running it will "re-start" the motor at the speed specified.

Parameters

intIn

an integer value between -100 and 100(inclusive) representing the speed at which the motor will run. This value roughly equates to the PWM duty cycle(ie, zero is off and 100 is full speed), with negative and positive values having opposite rotations.

Returns

NA

void Motor::startMotor

(

)

This method starts the motor, which will run in the direction and speed determined by the object's speed property. To get the current motor speed call getMotorSpeed(). To set the motor's speed, call setMotorSpeed(int).

Returns

NA

void Motor::stopMotor

(

)

This method stops the motor. Specifically, it sets both output pins low.

Returns

NA