Functions which handle the motor current. More...

Modules
	Advanced informations

Enumerations
enum	eCurrentGet
	clusters select values for reading the motor currents More...

Request Funktions
void	currents_request (eRequestType request)
	Requests new data from the motor currents. More...

uint8_t	currents_received (void)
	Indicates if new data for the data block sMD_SensCurrent was received. More...

uint8_t	currents_changed (void)
	Indicates if new data changed the data block sMD_SensCurrent. More...

Access Funktions
uint16_t	currents_get (eCurrentGet select)
	Returns the last stored current of the selected motor. More...

Detailed Description

Functions which handle the motor current.

The motor currents are part of the driving module. All actions, like reading their value, involve internal TWI communication. This may take some milliseconds (delay time).

example

/*******************************************************************************
* examples/motorSimple.c                                                       *
* ======================                                                       *
*                                                                              *
* Version: 1.0.5                                                               *
* Date   : 07.11.17                                                            *
* Author : Peter Weissig                                                       *
*******************************************************************************/
 
//*********************************<Included files>*****************************
#include <tucbot/tucbot.h>
 
//*********************************<Methods>************************************
void testMotor(void);
int main(void);
 
//*********************************[testMotor]**********************************
void testMotor(void) {
 
    int8_t speed = 0;
 
    lcdclr();
    lcdstr_p(PSTR("Motor      ####%"));
    lcdxy(0,1);
    lcdstr_p(PSTR("####mA    ####mA"));
 
    mode_set(kModeStudent);
    currents_request(kRequestContinuous);
 
    while (1) {
 
        if (buttons_get(kButtonMiddle)) {
            leds_set(kLedMiddle, kLedOn );
            mdelay(100);
            leds_set(kLedMiddle, kLedOff);
 
            if (speed > -100) {
                speed-= 5;
 
                lcdxy(11,0);
                int16tostr(lcdout,speed , 4);
 
                motors_set(kMotorSetAll,speed);
            }
        } else if (buttons_get(kButtonRight)) {
            leds_set(kLedRight , kLedOn );
            mdelay(100);
            leds_set(kLedRight , kLedOff);
 
            if (speed < 100) {
                speed+= 5;
 
                lcdxy(11,0);
                int16tostr(lcdout,speed , 4);
 
                motors_set(kMotorSetAll,speed);
            }
        }
 
        if (currents_changed()) {
            lcdxy( 0,1); int16tostr(lcdout,currents_get(kCurrentGetLeft ) ,4);
            lcdxy(10,1); int16tostr(lcdout,currents_get(kCurrentGetRight) ,4);
        }
    }
}
 
//*********************************[main]***************************************
int main (void) {
 
    init_tucbot(0xFF);
 
    buttons_request(kRequestContinuous);
 
    testMotor();
 
    return (0);
}