AdafruitMS1438 Class Reference

API for the AdafruitMS1438 Motor Shield. More...

Detailed Description

• ID: adafruitms1438
• Name: Adafruit Motor Shield
• Category: motor
• Manufacturer: adafruit
• Link: http://www.adafruit.com/products/1438
• Connection: i2c

This class implements support for the stepper and DC motors that can be connected to this Motor Shield. Note: the two servo connections are not controlled by the PCA9685 controller (or this class). They are connected directly to digital PWM pins 9 and 10 on the Arduino* breakout board.

An example using a DC motor connected to M3

An example using a stepper motor connected to M1 & M2

Classes
class	DCMOTORS_T
class	DIRECTION_T
class	STEPMOTORS_T

Public Member Functions
synchronized void	delete ()
	AdafruitMS1438 (int bus, short address)
	AdafruitMS1438 (int bus)
long	getMillis (AdafruitMS1438.STEPMOTORS_T motor)
void	initClock (AdafruitMS1438.STEPMOTORS_T motor)
void	setPWMPeriod (float hz)
void	enableMotor (AdafruitMS1438.DCMOTORS_T motor)
void	disableMotor (AdafruitMS1438.DCMOTORS_T motor)
void	enableStepper (AdafruitMS1438.STEPMOTORS_T motor)
void	disableStepper (AdafruitMS1438.STEPMOTORS_T motor)
void	setMotorSpeed (AdafruitMS1438.DCMOTORS_T motor, int speed)
void	setStepperSpeed (AdafruitMS1438.STEPMOTORS_T motor, int speed)
void	setMotorDirection (AdafruitMS1438.DCMOTORS_T motor, AdafruitMS1438.DIRECTION_T dir)
void	setStepperDirection (AdafruitMS1438.STEPMOTORS_T motor, AdafruitMS1438.DIRECTION_T dir)
void	stepConfig (AdafruitMS1438.STEPMOTORS_T motor, long stepsPerRev)
void	stepperSteps (AdafruitMS1438.STEPMOTORS_T motor, long steps)

Constructor & Destructor Documentation

AdafruitMS1438	(	int	bus,
		short	address
	)

AdafruitMS1438 constructor

Parameters

bus	I2C bus to use
address	Address for this sensor

Member Function Documentation

void disableMotor

(

AdafruitMS1438.DCMOTORS_T

motor

)

Disables PWM output for a motor

Parameters

motor

DC motor to disable

void disableStepper

(

AdafruitMS1438.STEPMOTORS_T

motor

)

Disable output for a stepper motor

Parameters

motor

Stepper motor to disable

void enableMotor

(

AdafruitMS1438.DCMOTORS_T

motor

)

Enables PWM output for a motor

Parameters

motor

DC motor to enable

void enableStepper

(

AdafruitMS1438.STEPMOTORS_T

motor

)

Enables output for a stepper motor

Parameters

motor

Stepper motor to enable

long getMillis

(

AdafruitMS1438.STEPMOTORS_T

motor

)

Returns the number of milliseconds elapsed since initClock(...) was last called.

Returns

Elapsed milliseconds

void initClock

(

AdafruitMS1438.STEPMOTORS_T

motor

)

Resets the clock

void setMotorDirection	(	AdafruitMS1438.DCMOTORS_T	motor,
		AdafruitMS1438.DIRECTION_T	dir
	)

Sets the direction of a DC motor, clockwise or counterclockwise

Parameters

motor	DC motor to configure
dir	Direction to set the motor in

void setMotorSpeed	(	AdafruitMS1438.DCMOTORS_T	motor,
		int	speed
	)

set the speed of a DC motor. Values can range from 0 (off) to 100 (full speed).

Parameters

motor	the DC motor to configure
speed	speed to set the motor to

void setPWMPeriod

(

float

hz

)

Sets the PWM period. Note: this applies to all PWM channels.

Parameters

hz	Sets the PWM period

void setStepperDirection	(	AdafruitMS1438.STEPMOTORS_T	motor,
		AdafruitMS1438.DIRECTION_T	dir
	)

Sets the direction of a stepper motor, clockwise or counterclockwise

Parameters

motor	Stepper motor to configure
dir	Direction to set the motor in

void setStepperSpeed	(	AdafruitMS1438.STEPMOTORS_T	motor,
		int	speed
	)

Sets the speed of a stepper in revolutions per minute (RPM)

Parameters

motor	DC motor to configure
speed	Speed to set the motor to

void stepConfig	(	AdafruitMS1438.STEPMOTORS_T	motor,
		long	stepsPerRev
	)

Sets a stepper motor configuration

Parameters

motor	Stepper motor to configure
stepsPerRev	Number of steps to complete a full revolution

void stepperSteps	(	AdafruitMS1438.STEPMOTORS_T	motor,
		long	steps
	)

Steps a stepper motor a specified number of steps

Parameters

motor	Stepper motor to step
steps	Number of steps to move the stepper motor

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

• /var/lib/jenkins/workspace/upm-doc-stable/build-33/src/adafruitms1438/AdafruitMS1438.java