Handling Matrix Controller (HT) functions. More...

#include <Arduino.h>
#include <Wire.h>

Classes
class	MatrixController
	Class for controlling motors and servos in the Matrix Controller (HT). More...

Macros
#define	ADDR_PCA954X 0x70

#define	MatrixCtrl_ADDR 0x08

#define	MC_REG_STATUS 0x41

#define	MC_REG_TIMEOUT 0x42

#define	MC_REG_BATTERY 0x43

#define	MC_REG_STARTFLAG 0x44

#define	MC_REG_SERVO_ENABLE 0x45

#define	MC_REG_SERVO_SPEED 0x46

#define	MC_REG_SERVO_TARGET 0x47

#define	MC_REG_SERVO_OFFSET 2

#define	MC_REG_MOTOR_POS 0x4E

#define	MC_REG_MOTOR_TARGET 0x52

#define	MC_REG_MOTOR_SPEED 0x56

#define	MC_REG_MOTOR_MODE 0x57

#define	MC_REG_MOTOR_OFFSET 10

#define	MODE_BRAKE 1

#define	MODE_POSITION 0

Detailed Description

Handling Matrix Controller (HT) functions.

Author: MATRIX Robotics

Definition in file MiniR4MxCtrlExt.h.

Macro Definition Documentation

◆ ADDR_PCA954X

#define ADDR_PCA954X 0x70

Definition at line 13 of file MiniR4MxCtrlExt.h.

◆ MatrixCtrl_ADDR

#define MatrixCtrl_ADDR 0x08

Definition at line 16 of file MiniR4MxCtrlExt.h.

◆ MC_REG_BATTERY

#define MC_REG_BATTERY 0x43

Definition at line 20 of file MiniR4MxCtrlExt.h.

◆ MC_REG_MOTOR_MODE

#define MC_REG_MOTOR_MODE 0x57

Definition at line 32 of file MiniR4MxCtrlExt.h.

◆ MC_REG_MOTOR_OFFSET

#define MC_REG_MOTOR_OFFSET 10

Definition at line 34 of file MiniR4MxCtrlExt.h.

◆ MC_REG_MOTOR_POS

#define MC_REG_MOTOR_POS 0x4E

Definition at line 29 of file MiniR4MxCtrlExt.h.

◆ MC_REG_MOTOR_SPEED

#define MC_REG_MOTOR_SPEED 0x56

Definition at line 31 of file MiniR4MxCtrlExt.h.

◆ MC_REG_MOTOR_TARGET

#define MC_REG_MOTOR_TARGET 0x52

Definition at line 30 of file MiniR4MxCtrlExt.h.

◆ MC_REG_SERVO_ENABLE

#define MC_REG_SERVO_ENABLE 0x45

Definition at line 23 of file MiniR4MxCtrlExt.h.

◆ MC_REG_SERVO_OFFSET

#define MC_REG_SERVO_OFFSET 2

Definition at line 27 of file MiniR4MxCtrlExt.h.

◆ MC_REG_SERVO_SPEED

#define MC_REG_SERVO_SPEED 0x46

Definition at line 24 of file MiniR4MxCtrlExt.h.

◆ MC_REG_SERVO_TARGET

#define MC_REG_SERVO_TARGET 0x47

Definition at line 25 of file MiniR4MxCtrlExt.h.

◆ MC_REG_STARTFLAG

#define MC_REG_STARTFLAG 0x44

Definition at line 21 of file MiniR4MxCtrlExt.h.

◆ MC_REG_STATUS

#define MC_REG_STATUS 0x41

Definition at line 18 of file MiniR4MxCtrlExt.h.

◆ MC_REG_TIMEOUT

#define MC_REG_TIMEOUT 0x42

Definition at line 19 of file MiniR4MxCtrlExt.h.

◆ MODE_BRAKE

#define MODE_BRAKE 1

Definition at line 36 of file MiniR4MxCtrlExt.h.

◆ MODE_POSITION

#define MODE_POSITION 0

Definition at line 37 of file MiniR4MxCtrlExt.h.

Classes

Macros