MotorDriver.cpp Documentation

Overview

The MotorDriver class provides an easy interface to control motor drivers such as MDD3A, L293D, L293N, L298D, and L298N. It allows for controlling motor speed, direction, and enabling or disabling motors.

Class: MotorDriver

Constructor

• MotorDriver() Initializes the motor driver pins based on the defined motor driver type.

Methods

• void begin(uint8_t EA, uint8_t EB, uint8_t M1A, uint8_t M1B, uint8_t M2A, uint8_t M2B) Initializes the motor driver with custom pin configurations and enables the motors.

  • EA: Enable pin for the right motor.
  • EB: Enable pin for the left motor.
  • M1A, M1B: Control pins for the right motor.
  • M2A, M2B: Control pins for the left motor.

• void begin(uint8_t M1A, uint8_t M1B, uint8_t M2A, uint8_t M2B) Initializes the motor driver with custom pin configurations without enabling the motors.

  • M1A, M1B: Control pins for the right motor.
  • M2A, M2B: Control pins for the left motor.

• void move(uint8_t RSpeed=255, uint8_t LSpeed=255, bool RFState=LOW, bool RBState=LOW, bool LFState=LOW, bool LBState=LOW, uint8_t time=-1) Moves the motors with specified speed and direction states.

  • RSpeed: Speed of the right motor (0-255).
  • LSpeed: Speed of the left motor (0-255).
  • RFState, RBState: State for the right motor (forward/backward).
  • LFState, LBState: State for the left motor (forward/backward).
  • time: Duration to move the motors in seconds.

• void Forward(uint8_t speed=100, uint8_t time=-1) Moves both motors forward with the specified speed and duration.

  • speed: Speed percentage (0-100).
  • time: Duration to move the motors in seconds.

• void Backward(uint8_t speed=100, uint8_t time=-1) Moves both motors backward with the specified speed and duration.

  • speed: Speed percentage (0-100).
  • time: Duration to move the motors in seconds.

• void HardRight(uint8_t Rspeed=100, uint8_t Lspeed=100, uint8_t time=-1) Turns the vehicle hard right by moving the right motor forward and the left motor backward.

  • Rspeed, Lspeed: Speed percentage for right and left motors (0-100).
  • time: Duration to move the motors in seconds.

• void HardLeft(uint8_t Rspeed=100, uint8_t Lspeed=100, uint8_t time=-1) Turns the vehicle hard left by moving the right motor backward and the left motor forward.

  • Rspeed, Lspeed: Speed percentage for right and left motors (0-100).
  • time: Duration to move the motors in seconds.

• void SoftRight(uint8_t speed=100, uint8_t time=-1) Turns the vehicle softly to the right by moving the right motor forward and stopping the left motor.

  • speed: Speed percentage (0-100).
  • time: Duration to move the motors in seconds.

• void SoftLeft(uint8_t speed=100, uint8_t time=-1) Turns the vehicle softly to the left by stopping the right motor and moving the left motor forward.

  • speed: Speed percentage (0-100).
  • time: Duration to move the motors in seconds.

• void Hardstop() Stops both motors immediately.

• void SoftStop() Stops both motors gradually.

Usage Example

#include "MotorDriver.h"

MotorDriver motor;

void setup() {
  motor.begin(6, 9, 2, 3, 4, 5); // Custom pin configuration
}

void loop() {
  motor.Forward(100, 5); // Move forward at full speed for 5 seconds
  delay(1000);
  motor.Backward(100, 5); // Move backward at full speed for 5 seconds
  delay(1000);
}

This documentation provides an overview of the MotorDriver class and its methods, along with a usage example.