Motors#

group drv_motors: Control the DC motors.

Author: Said Alvarado-Marin said-alexander.alvarado-marin@inria.fr
Author: Alexandre Abadie alexandre.abadie@inria.fr
Copyright: Inria, 2022

Functions

void db_motors_init(void)#

Configures the PMW0 peripheral to work with the onboard DotBot RGB Motor driver.

The DotBot uses a DRV8833 dual H-bridge driver with a 4 pmw control interface. the PWM0 peripheral is used to generate the pwm signals it requires.

PWM frequency = 10Khz PWM resolution = 100 units (1us resolution)

void db_motors_set_speed(int16_t l_speed, int16_t r_speed)#

Set the percentage speed of the right and left motors on the DotBot.

Each motor input variable receives a percentage speed from -100 to 100. Positive values turn the motor forward. Negative values turn the motor backward. Zero, stops the motor

Parameters:

l_speed – [in] speed of the left motor [-100, 100]
r_speed – [in] speed of the left motor [-100, 100]