Controlling four BL-Ctrl V1.2 Brushless controllers. More...

Files
file	motor.h
	BL-Ctrl V1.2 Controller API Header.

file	motor.c
	BL-Ctrl V1.2 Controller API Implementation.

Functions
void	motorInit (void)
	Initializes the motor control library. More...

void	motorSet (uint8_t id, uint8_t speed)
	Set the speed of one or all motors. More...

void	motorTask (void)
	Send the values stored in motorSpeed to the Controllers. More...

Variables
uint8_t	motorSpeed [MOTORCOUNT]
	Speed for the four motors. More...

uint8_t	motorSpeed [MOTORCOUNT]
	Speed for the four motors. More...

Detailed Description

Controlling four BL-Ctrl V1.2 Brushless controllers.

Function Documentation

void motorInit ( void )

Initializes the motor control library.

Really only sets motorSpeed to zero.

Examples:: hardwareTest.c, and uartFlight.c.

Definition at line 58 of file motor.c.

References MOTORCOUNT, and motorSpeed.

                      {
     for (uint8_t i = 0; i < MOTORCOUNT; i++) {
         motorSpeed[i] = 0;
     }
 }

void motorSet	(	uint8_t	id,
		uint8_t	speed
	)

Set the speed of one or all motors.

Parameters

id	Motor ID (0 to 3, 4 = all)
speed	New Speed

Definition at line 64 of file motor.c.

References MOTORCOUNT, and motorSpeed.

Referenced by setMotorSpeeds().

                                          {
     if (id < MOTORCOUNT) {
         motorSpeed[id] = speed;
     } else {
         for (id = 0; id < MOTORCOUNT; id++) {
             motorSpeed[id] = speed;
         }
     }
 }

void motorTask ( void )

Send the values stored in motorSpeed to the Controllers.

I2C already has to be initialized!

Examples:: uartFlight.c.

Definition at line 50 of file motor.c.

References MOTOR_BASEADDRESS, MOTORCOUNT, motorSpeed, TWI_WRITE, twiStart(), twiStop(), and twiWrite().

                      {
     for (uint8_t i = 0; i < MOTORCOUNT; i++) {
         twiStart(MOTOR_BASEADDRESS + (i << 1) + TWI_WRITE);
         twiWrite(motorSpeed[i]);
         twiStop();
     }
 }

Variable Documentation

uint8_t motorSpeed[MOTORCOUNT]

Speed for the four motors.

Examples:: uartFlight.c.

Definition at line 48 of file motor.c.

Referenced by motorInit(), motorSet(), and motorTask().