JMotorDriverPCA9685HBridge Class Reference

Controls an H-bridge motor driver controlled by a PCA9685 Tested on the Alfredo Systems NoU3 https://github.com/AlfredoSystems/Alfredo-NoU3. More...

#include <JMotorDriverPCA9685HBridge.h>

Inheritance diagram for JMotorDriverPCA9685HBridge:

Collaboration diagram for JMotorDriverPCA9685HBridge:

Public Member Functions
	JMotorDriverPCA9685HBridge (PCA9685 &_pca9685, byte _channelPos, byte _channelNeg, bool _reverse=false, bool _breakWhenEnabled=true, bool _breakWhenDisabled=false)
	Controls an H-bridge motor driver controlled by a PCA9685.
void	setBreakWhenEnabled (bool _breakWhenEnabled)
	activate electrical break mode when motor is enabled and speed is 0
void	setBreakWhenDisabled (bool _breakWhenDisabled)
	activate electrical break mode when motor is disabled
void	setReverse (bool _reverse)
bool	set (float val)
	set motor power
bool	setEnable (bool _enable)
	use to enable or disable a motor, and sets up pin states
bool	getEnable ()
	get the enable state of the driver
float	getMaxRange ()
	high end of the range
float	getMinRange ()
	low end of the range
Public Member Functions inherited from JMotorDriver
bool	enable ()
	enable motor
bool	disable ()
	disable motor

Protected Attributes
bool	enabled = false
bool	reverse
bool	breakWhenEnabled
bool	breakWhenDisabled
byte	channelPos
byte	channelNeg
PCA9685 &	pca9685
float	lastVal

Detailed Description

Controls an H-bridge motor driver controlled by a PCA9685 Tested on the Alfredo Systems NoU3 https://github.com/AlfredoSystems/Alfredo-NoU3.

Constructor & Destructor Documentation

JMotorDriverPCA9685HBridge()

JMotorDriverPCA9685HBridge::JMotorDriverPCA9685HBridge ( PCA9685 &  _pca9685, byte  _channelPos, byte  _channelNeg, bool  _reverse = false, bool  _breakWhenEnabled = true, bool  _breakWhenDisabled = false  )

inline

Controls an H-bridge motor driver controlled by a PCA9685.

Note

The PCA9685 must be initialized before this class is used to control a motor example PCA9685 setup: Wire1.begin(PIN_I2C_SDA_IMU, PIN_I2C_SCL_IMU, 400000); pca9685.setupSingleDevice(Wire1, 0x40); pca9685.setupOutputEnablePin(12); pca9685.enableOutputs(12); pca9685.setToFrequency(1500);

Parameters

_pca9685	reference to an instance of janelia-arduino/PCA9685
_channelPos	PCA channel that makes the motor go forward
_channelNeg	PCA channel that makes the motor go backward
_reverse	(bool, default=false) set to true if the motor is wired backwards
_breakWhenEnabled	(bool, default=true) set to true to turn on electrical break mode when motor is enabled and speed is 0
_breakWhenDisabled	(bool, default=false) set to true to turn on electrical break mode when motor is disabled

Member Function Documentation

getEnable()

bool JMotorDriverPCA9685HBridge::getEnable ( )

inlinevirtual

get the enable state of the driver

Return values

(bool)

true if enabled, false if disabled

Reimplemented from JMotorDriver.

getMaxRange()

float JMotorDriverPCA9685HBridge::getMaxRange ( )

inlinevirtual

high end of the range

Note

usually 1.0

Return values

(float)

maxRange

Reimplemented from JMotorDriver.

getMinRange()

float JMotorDriverPCA9685HBridge::getMinRange ( )

inlinevirtual

low end of the range

Note

usually -1.0, if 0, that indicates a motor controller with no reverse function

Return values

(float)

minRange

Reimplemented from JMotorDriver.

set()

bool JMotorDriverPCA9685HBridge::set ( float  val )

inlinevirtual

set motor power

Note

val should be between getMinRange and getMaxRange, but constrained internally

Parameters

val	(float) val

Return values

(bool)

false if at end of power range, true otherwise

Reimplemented from JMotorDriver.

setBreakWhenDisabled()

void JMotorDriverPCA9685HBridge::setBreakWhenDisabled ( bool  _breakWhenDisabled )

inline

activate electrical break mode when motor is disabled

setBreakWhenEnabled()

void JMotorDriverPCA9685HBridge::setBreakWhenEnabled ( bool  _breakWhenEnabled )

inline

activate electrical break mode when motor is enabled and speed is 0

setEnable()

bool JMotorDriverPCA9685HBridge::setEnable ( bool  _enable )

inlinevirtual

use to enable or disable a motor, and sets up pin states

Note

setEnable(true) must be called before a motor driver will activate

Parameters

_enable

(bool) true=enable, false=disable

Return values

(bool)

true if state changed, false if state already set

Reimplemented from JMotorDriver.

setReverse()

void JMotorDriverPCA9685HBridge::setReverse ( bool  _reverse )

inline

Member Data Documentation

breakWhenDisabled

bool JMotorDriverPCA9685HBridge::breakWhenDisabled

protected

breakWhenEnabled

bool JMotorDriverPCA9685HBridge::breakWhenEnabled

protected

channelNeg

byte JMotorDriverPCA9685HBridge::channelNeg

protected

channelPos

byte JMotorDriverPCA9685HBridge::channelPos

protected

enabled

bool JMotorDriverPCA9685HBridge::enabled = false

protected

lastVal

float JMotorDriverPCA9685HBridge::lastVal

protected

pca9685

PCA9685& JMotorDriverPCA9685HBridge::pca9685

protected

reverse

bool JMotorDriverPCA9685HBridge::reverse

protected

---

The documentation for this class was generated from the following file:

• src/JMotorDriver/JMotorDriverPCA9685HBridge.h