AVR Library Command Reference
Table Of Contents
- Pololu AVR Library Command Reference
- 1. Introduction
- 2. Timing and Delays
- Reference
- 3. Orangutan Analog-to-Digital Conversion
- Reference
- 4. Orangutan Buzzer: Beeps and Music
- Reference
- 5. Orangutan LCD
- Reference
- 6. Orangutan LEDs
- Reference
- 7. Orangutan Motor Control
- Reference
- 8. Orangutan Pushbuttons
- Reference
- 9. Orangutan Serial Port Communication
- Reference
- 10. Orangutan System Resources
- 11. QTR Reflectance Sensors
- Reference
- 12. 3pi Robot Functions
- 13. Wheel Encoders
- Reference
7. Orangutan Motor Control
The OrangutanMotors class and the C functions in this section allow PWM speed control of the two motor channels
on the Orangutan controllers and 3pi. The motor control functions rely on PWM outputs from Timer0 and Timer2,
so they will conflict with other code using these timers. Unfortunately the Arduino environment relies on Timer0 for
its millis() and delay() functions, but this library enables a Timer2 interrupt that restores the functionality of millis()
and delay() to normal. This interrupt is not included in the C and C++ versions of the library.
For a higher level overview of this library and example programs that show how this library can be used, please see
Section 5.e of the guide to Programming Orangutans from the Arduino Environment [http://www.pololu.com/docs/
0J17] or Section 6.g of the Pololu AVR C/C++ Library User’s Guide [http://www.pololu.com/docs/0J20].
Pololu AVR Library Command Reference © 2001–2009 Pololu Corporation
7. Orangutan Motor Control Page 18 of 35