Pololu3piPlus32U4 library
Pololu3piPlus32U4::Motors Class Reference

Controls motor speed and direction on the 3pi+ 32U4. More...

#include <Pololu3piPlus32U4Motors.h>

## Static Public Member Functions

static void flipLeftMotor (bool flip)
Flips the direction of the left motor. More...

static void flipRightMotor (bool flip)
Flips the direction of the right motor. More...

static void setLeftSpeed (int16_t speed)
Sets the speed for the left motor. More...

static void setRightSpeed (int16_t speed)
Sets the speed for the right motor. More...

static void setSpeeds (int16_t leftSpeed, int16_t rightSpeed)
Sets the speeds for both motors. More...

## Detailed Description

Controls motor speed and direction on the 3pi+ 32U4.

This library uses Timer 1, so it will conflict with any other libraries using that timer.

Definition at line 16 of file Pololu3piPlus32U4Motors.h.

## ◆ flipLeftMotor()

 void Pololu3piPlus32U4::Motors::flipLeftMotor ( bool flip )
static

Flips the direction of the left motor.

You can call this function with an argument of true if the left motor of your 3pi+ was not wired in the standard way and you want a positive speed argument to correspond to forward movement.

Parameters
 flip If true, then positive motor speeds will correspond to the direction pin being high. If false, then positive motor speeds will correspond to the direction pin being low.

Definition at line 41 of file Pololu3piPlus32U4Motors.cpp.

## ◆ flipRightMotor()

 void Pololu3piPlus32U4::Motors::flipRightMotor ( bool flip )
static

Flips the direction of the right motor.

You can call this function with an argument of true if the right motor of your 3pi+ was not wired in the standard way and you want a positive speed argument to correspond to forward movement.

Parameters
 flip If true, then positive motor speeds will correspond to the direction pin being high. If false, then positive motor speeds will correspond to the direction pin being low.

Definition at line 46 of file Pololu3piPlus32U4Motors.cpp.

## ◆ setLeftSpeed()

 void Pololu3piPlus32U4::Motors::setLeftSpeed ( int16_t speed )
static

Sets the speed for the left motor.

Parameters
 speed A number from -400 to 400 representing the speed and direction of the left motor. Values of -400 or less result in full speed reverse, and values of 400 or more result in full speed forward.

Definition at line 51 of file Pololu3piPlus32U4Motors.cpp.

## ◆ setRightSpeed()

 void Pololu3piPlus32U4::Motors::setRightSpeed ( int16_t speed )
static

Sets the speed for the right motor.

Parameters
 speed A number from -400 to 400 representing the speed and direction of the right motor. Values of -400 or less result in full speed reverse, and values of 400 or more result in full speed forward.

Definition at line 72 of file Pololu3piPlus32U4Motors.cpp.

## ◆ setSpeeds()

 void Pololu3piPlus32U4::Motors::setSpeeds ( int16_t leftSpeed, int16_t rightSpeed )
static

Sets the speeds for both motors.

Parameters
 leftSpeed A number from -400 to 400 representing the speed and direction of the right motor. Values of -400 or less result in full speed reverse, and values of 400 or more result in full speed forward. rightSpeed A number from -400 to 400 representing the speed and direction of the right motor. Values of -400 or less result in full speed reverse, and values of 400 or more result in full speed forward.

Definition at line 93 of file Pololu3piPlus32U4Motors.cpp.

The documentation for this class was generated from the following files: