RCX Motor MUX [Mindsensors]

Files
file	mindsensors-rcxmotormux.h
	RobotC Mindsensors RCX Motor MUX Driver.
Defines
#define	MSMTRMX_I2C_ADDR   0xB4
#define	MSMTRMX_MOTOR_REG   0x42
Enumerations
enum	tMSMTRMXSettings { MSMTRMX_MODE_FLOAT = 0, MSMTRMX_MODE_FORWARD = 1, MSMTRMX_MODE_REVERSE = 2, MSMTRMX_MODE_BRAKE = 3 }
enum	tMSMTRMXMotors { MSMTRMX_M1 = 0, MSMTRMX_M2 = 1, MSMTRMX_M3 = 2, MSMTRMX_M4 = 3 }
Functions
bool	MSMTRMX_Control (tSensors link, tMSMTRMXMotors channel, int power, ubyte address=MSMTRMX_I2C_ADDR)
bool	MSMTRMX_Brake (tSensors link, tMSMTRMXMotors channel, unsigned byte brakeForce, ubyte address=MSMTRMX_I2C_ADDR)
Variables
tByteArray	MSMTRMX_I2CMessage

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Detailed Description

RCX Motor MUX

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Define Documentation

#define MSMTRMX_I2C_ADDR   0xB4

i2c address/registers MSMTRMX I2C device address

Definition at line 33 of file mindsensors-rcxmotormux.h.

#define MSMTRMX_MOTOR_REG   0x42

Motor address

Definition at line 34 of file mindsensors-rcxmotormux.h.

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Enumeration Type Documentation

enum tMSMTRMXMotors

motors struct, these are the four motor channels on the MUX

Enumerator:

MSMTRMX_M1
MSMTRMX_M2
MSMTRMX_M3
MSMTRMX_M4

Definition at line 45 of file mindsensors-rcxmotormux.h.

enum tMSMTRMXSettings

motor settings struct, each motor can be set to one of these modes

Enumerator:

MSMTRMX_MODE_FLOAT
MSMTRMX_MODE_FORWARD
MSMTRMX_MODE_REVERSE
MSMTRMX_MODE_BRAKE

Definition at line 37 of file mindsensors-rcxmotormux.h.

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Function Documentation

bool MSMTRMX_Brake	(	tSensors	link,
		tMSMTRMXMotors	channel,
		unsigned byte	brakeForce,
		ubyte	address
	)

This function applies the specified braking power to the specified motor

Parameters:

link	port number
channel	motor number
brakeForce	brake power to set the motor to (0-255, 0 == float)
address	the I2C address to use, optional, defaults to 0xB4

Returns:

true if message is sent successfully

Examples:

mindsensors-rcxmotormux-test1.c.

Definition at line 108 of file mindsensors-rcxmotormux.h.

bool MSMTRMX_Control	(	tSensors	link,
		tMSMTRMXMotors	channel,
		int	power,
		ubyte	address = MSMTRMX_I2C_ADDR
	)

Function prototypes

This function sets the specified motor to the given power level, with the motor floated at speed zero. The controller floats during inactive PWM periods.

Parameters:

link	port number
channel	motor number
power	speed to set the motor to (-255 to +255)
address	the I2C address to use, optional, defaults to 0xB4

Returns:

true if message is sent successfully

Examples:

mindsensors-rcxmotormux-test1.c.

Definition at line 69 of file mindsensors-rcxmotormux.h.

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Variable Documentation

tByteArray MSMTRMX_I2CMessage

Array to hold I2C command data

Definition at line 52 of file mindsensors-rcxmotormux.h.