Examples

Example for rotation by euler angles
Fixed Stepper example

Author: kubascikmichal

RoboHeart.cpp

@@ -105,6 +105,17 @@ bool RoboHeart::begin() {
     return true;
 }
 
+
+void RoboHeart::setPWM(int motor, int freq, int pwm){
+    if(motor == MOTOR_A){
+        motorA.configPWM(freq, pwm);
+    } else if (motor == MOTOR_B){
+        motorB.configPWM(freq, pwm);
+    } else if (motor == MOTOR_C){
+        motorC.configPWM(freq, pwm);
+    }
+}
+
 void RoboHeart::setAutomaticRotation(){
 
     Serial.println("Automatic calibration started.");

RoboHeart.h

@@ -28,6 +28,10 @@
 #define MOTOR_C_CHANNEL1 4
 #define MOTOR_C_CHANNEL2 5
 
+#define MOTOR_A 0
+#define MOTOR_B 1
+#define MOTOR_C 2
+
 #define LSM6DS3_I2C_ADDR 0x6A // or 0x6B - Address is defined in Library
 
 typedef struct {
@@ -69,6 +73,7 @@ class RoboHeart {
     static void rotationCallBack(void *pvParameter);
     float getTemperatureC();
     float getTemperatureF();
+    void setPWM(int motor, int freq, int pwm);
 
    private:
     Stream* _debug = NULL;