motor.h File Reference

Motor Outputs. More...


Functions
void	motor_init (void)
void	motor_set_vel (uint8_t motor, int16_t vel)
void	motor_brake (uint8_t motor)
uint16_t	motor_get_current (uint8_t motor)
uint16_t	motor_get_current_MA (uint8_t motor)

Detailed Description

The happyboard as 6 1.5A Motor drivers with current sensing capabilities. Motors can be set to 3 possible states: drive, coast, or brake.

Drive is the default state, used for any velocity other than 0
Coast is used when a motor is set to 0 velocity. This causes the motor to coast to a stop (the motor is not actively stopped).
Brake is used when motorBrake is called, and actively stops the motor by shorting the motor terminals.

Each motor port has a current sensor associated with it, allowing the robot to sense the current usage of each motor. Motor current increases proportional to torque and thus can be used to sense when a motor has stalled (driving into a wall, other robots, etc).

Function Documentation

void motor_brake ( uint8_t motor )

Set a motor to brake (stops the motor as quickly as possible). Calling motorSetVel() again will disable the brake state.

Parameters:

motor

Motor port to brake.

uint16_t motor_get_current ( uint8_t motor )

Read the current in a given motor.

Parameters:

motor

Motor to sense current of.

Returns:: the current of motor 'motor'.

uint16_t motor_get_current_MA ( uint8_t motor )

Read the current in a given motor in milliamps.

Parameters:

motor

Motor to sense current of.

Returns:: the current of motor 'motor', in milliamps.

void motor_init ( void )

Initialize motors. Should not be called by user.

void motor_set_vel	(	uint8_t	motor,
		int16_t	vel
	)

Set the motor velocity of a specific motor. The sign of 'vel' determines direction. A value of 0 sets the motor to coast.

Parameters:

	motor	Motor port to set.
	vel	Velocity to set motor 'motor'.

motor.h File Reference

Functions

Detailed Description

Function Documentation