Romi32U4Motors Class Reference

Controls motor speed and direction on the Romi 32U4. More...

#include <Romi32U4Motors.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 speed for both motors. More...
static void	allowTurbo (bool turbo)
	Turns turbo mode on or off. More...

Detailed Description

Controls motor speed and direction on the Romi 32U4.

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

Definition at line 13 of file Romi32U4Motors.h.

Member Function Documentation

allowTurbo()

void Romi32U4Motors::allowTurbo ( bool  turbo )

static

Turns turbo mode on or off.

By default turbo mode is off. When turbo mode is on, the range of speeds accepted by the other functions in this library becomes -400 to 400 (instead of -300 to 300). Turning turbo mode on allows the Romi to move faster but could decrease the lifetime of the motors.

This function does not have any immediate effect on the speed of the motors; it just changes the behavior of the other functions in this library.

Parameters

turbo

If true, turns turbo mode on. If false, turns turbo mode off.

Definition at line 98 of file Romi32U4Motors.cpp.

flipLeftMotor()

void Romi32U4Motors::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 Romi 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 40 of file Romi32U4Motors.cpp.

flipRightMotor()

void Romi32U4Motors::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 Romi 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 45 of file Romi32U4Motors.cpp.

setLeftSpeed()

void Romi32U4Motors::setLeftSpeed ( int16_t  speed )

static

Sets the speed for the left motor.

Parameters

speed

A number from -300 to 300 representing the speed and direction of the left motor. Values of -300 or less result in full speed reverse, and values of 300 or more result in full speed forward.

Definition at line 50 of file Romi32U4Motors.cpp.

setRightSpeed()

void Romi32U4Motors::setRightSpeed ( int16_t  speed )

static

Sets the speed for the right motor.

Parameters

speed

A number from -300 to 300 representing the speed and direction of the right motor. Values of -300 or less result in full speed reverse, and values of 300 or more result in full speed forward.

Definition at line 71 of file Romi32U4Motors.cpp.

setSpeeds()

void Romi32U4Motors::setSpeeds ( int16_t  leftSpeed, int16_t  rightSpeed  )

static

Sets the speed for both motors.

Parameters

leftSpeed	A number from -300 to 300 representing the speed and direction of the right motor. Values of -300 or less result in full speed reverse, and values of 300 or more result in full speed forward.
rightSpeed	A number from -300 to 300 representing the speed and direction of the right motor. Values of -300 or less result in full speed reverse, and values of 300 or more result in full speed forward.

Definition at line 92 of file Romi32U4Motors.cpp.

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

• Romi32U4Motors.h
• Romi32U4Motors.cpp