Manual

www.nexusrobot.com Robot Kits manual
37
¾ Class Motor Reference
This section gives a full listing of the capabilities of a Motor.
Class Motor : public PID
Interface for visit of peripherals . Inherit from the Public PID.
¾ Public functions
Motor(unsigned char _pinPWM,unsigned char _pinDir,
unsigned char _pinIRQ,unsigned char _pinIRQB,
struct ISRVars* _isr)
Construct a new Motor instance.
In your sketch. This will create a Motor object called Motor. You can then use any of its methods; for
instance, to control a motor attached to pins, you could write
Parameters:
unsigned char _pinPWM
The motor PWM control pin
unsigned char _pinDir
The motor direction control pin
unsigned char _pinIRQ
The interrupt pin A
unsigned char _pinIRQB
The interrupt pin B
struct ISRVars* _isr
The Structure IRSVars’s member
See: irqISR(y,x)
void setupInterrupt()
Setup a attach interrupt
unsigned char getPinPWM() const
Get the motor’s PWM control pin number
Return: PWM control pin
unsigned char getPinDir() const
Get the motor’s direction control pin number