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--- en:software:homelab:library:module:motor [2010/03/25 19:22] – mikk.leini
+++ en:software:homelab:library:module:motor [2020/07/20 12:00] (current) – external edit 127.0.0.1
@@ Line 3: / Line 3: @@
 //Related to: [HW] [[en:hardware:homelab:motor]]//
-This library contains functions to control different Homelab motors. There are functions for DC, stepper and servo motors.
+This library contains functions to control different HomeLab motors. There are functions for DC, stepper and servo motors.
+===== Data Types =====
+  * **//prescale//** \\  PWM clock prescaler enumration data type. It determines the division factor of system clock. It is recommended to use the first two division factors. Options:
+    * //TIMER2_NO_PRESCALE// - Division factor not used.
+    * //TIMER2_PRESCALE_8// - Division factor 8.
+    * //TIMER2_PRESCALE_64// - Division factor 64.
+    * //TIMER2_PRESCALE_256// - Division factor 256.
+    * //TIMER2_PRESCALE_1024// - Division factor 1024.
 ===== Functions =====
   * **//void dcmotor_init(unsigned char index)//** \\
-    Initializes one of a DC motor controllers. Parameters:
+    Initializes one of the DC motor controllers. Parameters:
     * //index// - Index of motor controller. 0 to 3.
   * **//void dcmotor_drive(unsigned char index, signed char direction)//** \\
-    Drives one of a DC motor controllers. Parameters:
+    Drives one of the DC motor controllers. Parameters:
+    * //index// - Index of motor controller. 0 to 3.
+    * //direction// - Motor polarity. -1, 0 or +1. In case of 0 motor is stopped, otherwise it turns in given direction.
+  * **//void dcmotor_drive_pwm_init(unsigned char index, timer2_prescale prescaler)//** \\     Initializes one of the DC motor controllers for speed control. In addition, you can set the appropriate prescaler, depending on the frequency of the PWM's you need. Parameters:
+    * //index// - Index of motor controller. 0 to 3.
+    * //prescaler// - Clock prescaler selection. Interruptions can occur very quickly upset the program of work. For example, when the UH sensor is used, it is necessary to set the prescaler TIMER2_PRESCALE_8.
+  * **//void dcmotor_drive_pwm(unsigned char index, signed char direction, unsigned char speed) //** \\
+Drives one of the DC motor controllers. Motor rotates in a predetermined direction and speed. Parameters:
     * //index// - Index of motor controller. 0 to 3.
-    * //direction// - Motor polarity. -1, 0 or +1. In case of 0 motor is stopped, otherwise it turns on either of directions.
+    * //direction// -  Motor polarity. -1 or +1.
+    * //speed// - Motor speed.  0 to 255. 0 the engine is stopped and the 255 is the maximum possible speed.
   * **//void unipolar_init(unsigned char index)//** \\
-    Initializes one of a unipolar stepper motor controllers. Parameters:
+    Initializes one of the unipolar stepper motor controllers. Parameters:
     * //index// - Index of motor controller. 0 or 1.
@@ Line 65: / Line 84: @@
 	servomotor_init(1);
-	// One DC motors drives to forward, another to backward direction.
+	// One DC motors drives forward, another in backward direction.
 	dcmotor_drive(0, -1);
 	dcmotor_drive(1, +1);
@@ Line 77: / Line 96: @@
 	servomotor_position(0, -100);
 	servomotor_position(1, +100);
+}
+</code>
+This example demonstrates the speed adjustments of a DC motor.
+<code c>
+#include <homelab/module/motors.h>
+int main(void)
+{
+        unsigned char speed = 0;
+	// DC motors initialization
+  	dcmotor_drive_pwm_init(0, TIMER2_NO_PRESCALE);
+  	while(1)
+  	{
+		speed = 100;
+		// DC motors drives predefined speed and direction.
+		dcmotor_drive_pwm(0, 1, speed);
+  	}
 }
 </code>

en/software/homelab/library/module/motor.1269537720.txt.gz · Last modified: 2020/07/20 12:00 (external edit)