To use this extension board, use the ExpansionDCMotor class of the PHPoC Expansion library.
Available member functions of the ExpansionDCMotor class are as follows:
| Member Function | Description |
|---|---|
| int getPID(void) | get the product's ID |
| char *getName(void) | get the product's name |
| ExpansionDCMotor(int sid, int port) | create an instance of a motor port |
| setPolarity(int pol) | set a PWM polarity |
| setDirection(int dir) | set a direction of rotation |
| setPeriod(long period) | set a PWM period |
| setWidth(long width) | set a HIGH duration (a duty cycle) |
| setDecay(int decay) | set decay mode |
| setEncoderPolarity(int pol) | set a count direction of encoder |
| setEncoderPosition(long pos) | set a counter value of encoder |
| setEncoderPSR(int psr) | set a sampling count of encoder |
| getEncoderPosition(void) | get a counter value of encoder |
| getEncoderPeriod(void) | get a period of encoder output |
| setFilterFrequency(long freq) | set a cut-off frequency of LPF |
| setFilterPNC(int pnc) | set a noise counter of LPF |
| getFilterPNC(void) | get a noise counter of LPF |