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<?xml version="1.0" encoding="UTF-8"?>
<!--
*
* This help file was generated from cmd_dcmotor_run.sci using help_from_sci().
*
-->
<refentry version="5.0-subset Scilab" xml:id="cmd_dcmotor_run" xml:lang="en"
xmlns="http://docbook.org/ns/docbook"
xmlns:xlink="http://www.w3.org/1999/xlink"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns:ns3="http://www.w3.org/1999/xhtml"
xmlns:mml="http://www.w3.org/1998/Math/MathML"
xmlns:scilab="http://www.scilab.org"
xmlns:db="http://docbook.org/ns/docbook">
<refnamediv>
<refname>cmd_dcmotor_run</refname>
<refpurpose>Command to run DC motor after setting up</refpurpose>
</refnamediv>
<refsynopsisdiv>
<title>Calling Sequence</title>
<synopsis>
cmd_dcmotor_run(h,motor_no,u1)
</synopsis>
</refsynopsisdiv>
<refsection>
<title>Parameters</title>
<variablelist>
<varlistentry><term>h :</term>
<listitem><para> Board number, reserved for future use. For this version, any number would do</para></listitem></varlistentry>
<varlistentry><term>motor_no :</term>
<listitem><para> ID in which the motor has been connected</para></listitem></varlistentry>
<varlistentry><term>u1 :</term>
<listitem><para> Value to sent, range from -255 to 255, for clockwise and anti-clockwise direction</para></listitem></varlistentry>
</variablelist>
</refsection>
<refsection>
<title>Description</title>
<para>
Arduino board does not deliver enough power, so it is necessary to use a H-bridge circuit/IC to control the motor. There are several types of H-bridge IC that do not all operate on the same principle. For example, the L298 requires the use of a PWM signal with current sense. The L293 uses two PWM to set the speed and direction. Ready-to-use Shields are also available.
</para>
<para>
Remember that the PWM is 8-bit (0 to 255). The input of the block could accept any value, but it would saturate at +- 255.
</para>
<para>
</para>
</refsection>
<refsection>
<title>Examples</title>
<programlisting role="example"><![CDATA[
ok = open_serial(1,9,115200)
cmd_dcmotor_setup(1,3,1,9,10) // Setup DC motor of type 3 (L293), motor 1, pin 9 and 10
cmd_dcmotor_run(1,1,255)
sleep(1000)
cmd_dcmotor_run(1,1,-255)
sleep(1000)
cmd_dcmotor_release(1,1)
close_serial(1)
]]></programlisting>
</refsection>
</refentry>
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