Controlling M1 is no problem, but M2, M3 and M4 don't work.
According to the manual, the following code should set M2 to turn right at 100% speed, but instead the motor attached at M3 starts to rotate.
#include <Wire.h>
void setup() {
Wire.begin(); // join I2C bus as master
}
void startMotor() {
Wire.beginTransmission(43); // connect to 0x2B slave ftDuino
Wire.write(0x04); // set output mode of O3/M2 to...
Wire.write(0x13); // ... motor output right
Wire.endTransmission();
delay(100);
Wire.beginTransmission(43); // connect again
Wire.write(0x05); // set output value of M2 to...
Wire.write(255); // ... full speed
Wire.endTransmission();
}
void loop() {
startMotor();
delay(3000);
}I modified I2CSlave a little bit to track the issue down in the code:
I2cSlaveDebug2.ino.txt
It produces the following (slightly modified) output explaining the bug's origin:
---- turn M1 to the right (100%) (OK) ------------
I2C receive...
addr: 0
value: 13
port: 0
reg: 0
Set output mode: 0 = 13
I2C receive...
addr: 1
value: FF
port: 0
reg: 1
Configure Hardware...
Check passed.
PWM: 64
mode: 0
Set motor 0 to 2 at 64
---- turn M2 to the right (100%) (FAIL) ---------
I2C receive...
addr: 4 (OK)
value: 13 (OK)
port: 2 (OK)
reg: 0 (OK)
Set output mode: 2 = 13 (OK) (O3 set to motor mode)
I2C receive...
addr: 5 (OK)
value: FF (OK)
port: 2 (FAIL)
reg: 1 (OK)
Configure Hardware...
Check passed.
PWM: 64 (OK)
mode: 0 (OK)
Set motor 2 to 2 at 64 (FAIL)
Looks like the motor port is not calculated correctly.
Port 2 can be Ftduino::O3 (that works), but also Ftduino::M2.
Motor ports would require to be shifted 1 to the right to calculate them correctly:
- Motor offset from M1: port>>1
- M1: 0>>1 (=0)
- M2: 2>>1 (=1)
- M3: 4>>1 (=2)
- M4: 6>>1 (=3)
If I wasn't unsure of breaking the set-output commands, I would file a pull request...
Controlling M1 is no problem, but M2, M3 and M4 don't work.
According to the manual, the following code should set M2 to turn right at 100% speed, but instead the motor attached at M3 starts to rotate.
I modified I2CSlave a little bit to track the issue down in the code:
I2cSlaveDebug2.ino.txt
It produces the following (slightly modified) output explaining the bug's origin:
Looks like the motor port is not calculated correctly.
Port 2 can be
Ftduino::O3(that works), but alsoFtduino::M2.Motor ports would require to be shifted 1 to the right to calculate them correctly:
If I wasn't unsure of breaking the set-output commands, I would file a pull request...