Nexus Automation Nexus Robot, User Manual

Page: 47 / 128

www.nexusrobot.com Robot Kits manual
43
Define a Pointer named isr, as the member of the struct ISRVars
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Private members
unsigned char
pinPWM
The PWM pin.
unsigned char
pinDir
The diretion pin
unsigned char
pinIRQ
The IRQ pin
unsigned char
pinIRQB
The IRQB pin
bool
desiredDirection
The desired direction
unsigned int
speedPWM
Save the current PWM
int
speedRPMInput
Save the Motor’s current speed.it will be used in class PID
int
speedRPMOutput
Save the speed of the Motor output.
int
speedRPMDesired
Save the speed the user want to set
bool
pidCtrl
The class PID work’s mode
Motor
()
Construct a new Motor instance.
After this the class Motor’s explain is over
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Class GearedMotor
Interface for visit of peripherals and it’s Inherit from the Public Motor.
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Public functions
GearedMotor
(unsigned char _pinPWM,unsigned char _pinDir,