Manual

www.nexusrobot.com Robot Kits manual
43
Define a Pointer named isr, as the member of the struct ISRVars
¾ Private members
unsigned char pinPWM
The PWM pin.
unsigned char pinDir
The diretion pin
unsigned char pinIRQ
The IRQ pin
unsigned char pinIRQB
The IRQB pin
bool desiredDirection
The desired direction
unsigned int speedPWM
Save the current PWM
int speedRPMInput
Save the Motor’s current speed.it will be used in class PID
int speedRPMOutput
Save the speed of the Motor output.
int speedRPMDesired
Save the speed the user want to set
bool pidCtrl
The class PID work’s mode
Motor()
Construct a new Motor instance.
After this the class Motor’s explain is over
¾ Class GearedMotor
Interface for visit of peripherals and it’s Inherit from the Public Motor.
¾ Public functions
GearedMotor(unsigned char _pinPWM,unsigned char _pinDir,