Motorwheel; Motorwheel Class Reference - Nexus Automation Nexus Robot User Manual

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Motorwheel

This page describes how to control the built-in Motorwheel.

Motorwheel Class Reference

This document describes how to use the Motor library to control Motors. On the Introduction, you will
know how to controls the motor's PWM, direction and speed .
This motorwheel library version 1.1,compatible with maple.
Contents:
struct ISRVars Reference
This section gives a full listing of the capabilities of a struct ISRVars
struct ISRVars
Define a struct named of IRSVars.In the struct ,there are 7 values.
Values:
void (*ISRfunc)()
A pointer function
volatile long pulses
The pulse which got from the interrupt pin, will be used to confirm the direction
volatile unsigned long pulseStartMicros
Save the time when the start pulse
volatile unsigned long pulseEndMicros
Save the time when the end pulse
volatile unsigned int speedPPS
Save the speed of the pulse(pulse per second)
volatile bool currDirection
Save the current direction
unsigned char pinIRQB
The IRQB pin
Struct ISRVars
Class Motor
Class GearedMotor
Class MotorWheel
Robot Kits manual
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