motor.cpp

This sketch demonstrates usage of the Motor class to drive a motor.

#include <Arduino.h>
 
#include <EV3Motor.h>
 
#define ENB 6
#define IN3 5
#define IN4 4
 
#define ENCA 2
#define ENCB 13
 
#define BUTTON 8
 
ev3::Motor motor(ev3::MotorPortConfig{.Enable = ENB, .In1 = IN3, .In2 = IN4, .EncoderA = ENCA, .EncoderB = ENCB});
 
ev3Motor_EncoderGlobal(motor);
 
void setup() {
  Serial.begin(9600);
 
  pinMode(BUTTON, INPUT_PULLUP);
 
  motor.Setup();
  ev3Motor_SetupEncoder(motor);
 
  motor.SetDirection(ev3::MotorDirection::FORWARD);
}
 
int previousButtonValue = HIGH;
void loop() {
  // put your main code here, to run repeatedly:
  int buttonValue = digitalRead(BUTTON);
 
  if (!buttonValue && previousButtonValue)
  {
    motor.ResetEncoder();
    motor.RunToPosition(255, 3000);
  }
 
  motor.Loop();
  
  previousButtonValue = buttonValue;
}