Manual

www.nexusrobot.com Robot Kits manual
44
unsigned char _pinIRQ,unsigned char _pinIRQB,
struct ISRVars* _isr,
unsigned int _ratio=REDUCTION_RATIO);
Construct a new GearedMotor instance.
In your sketch. This will create a GearedMotor object called GearedMotor. You can then use any of its
methods; for instance, to control a Gearedmotor attached to pins, you could write
parameters
Unsigned char _pinPWM
The PWM control pin
unsigned char _pinDir
The direction control pin
unsigned char _pinIRQ
The IRQ pin
unsigned char _pinIRQB
The IRQB pin
struct ISRVars* _isr
A point of the struct IRSVars’s member
unsigned int _ratio
A variable equal 60
float getGearedSpeedRPM() const
Get the Geared speed (round per second)
This will lie within the range specified at Motor::getSpeedRPM(),to understand this ,you will to
understand (float)Motor::getSpeedRPM()/_ratio
See: Motor::getSpeedRPM()
float setGearedSpeedRPM (float gearedSpeedRPM,bool dir)
Set the GearedSpeed
This will lie within the range specified at Motor::setSpeedRPM ()
parameters
float gearedSpeedRPM
The value want to set
bool dir
The Motor’s direction