BricktronicsMotor

BricktronicsMotor v1.2 - A software library for LEGO NXT motors.

More details at http://www.wayneandlayne.com/bricktronics/

To Download

• Click the "Clone or download" button on the upper-right side of this page below the pink bar, then select "Download ZIP". Rename the uncompressed folder BricktronicsMotor. Check that the BricktronicsMotor folder contains BricktronicsMotor.cpp and BricktronicsMotor.h
• Place the BricktronicsMotor library folder into your <arduinosketchfolder>/libraries/ folder. You may need to create the libraries subfolder if this is your first installed library. Restart the Arduino IDE.

This library depends on the following other Arduino libraries:

• Brett Beauregard's Arduino PID_v1 Library
• PJRC Encoder Library for Teensy and Arduino

One of the examples, MotorPositionControlInterrupt, uses the FlexiTimer2 library to periodically call the motor update function:

• FlexiTimer2 library

API Highlights

• BricktronicsMotor(uint8_t enPin, uint8_t dirPin, uint8_t pwmPin, uint8_t encoderPin1, uint8_t encoderPin2) - Constructor
• void begin(void) - Call the begin function in your setup() function
• void coast(void) - Let the motor coast
• void brake(void) - Rapidly slow down the motor
• void hold(void) - Stop the motor and hold it in place
• void update(void) - Recalculate the PID motor control parameters
• void setFixedDrive(int16_t speed) - Raw, uncontrolled motor speed setting
• void goToPosition(int32_t position) - Uses PID algorithm to drive motor to position
• void goToPositionWaitForDelay(int32_t position, uint32_t delayMS) - Same as goToPosition but wait for delayMS
• void goToPositionWaitForArrival(int32_t position) - Same as goToPosition but wait for arrival. May get stuck if motor never arrives...
• bool goToPositionWaitForArrivalOrTimeout(int32_t position, uint32_t timeoutMS) - Same as above but will timeout after timeoutMS.
• void goToAngle(int32_t angle) - There is a whole family of functions for moving to an angle (0 - 355 degrees)
• void pidSetTunings(double Kp, double Ki, double Kd) - Update the PID tuning parameters
• bool settledAtPosition(int32_t position) - Check if the motor has reached the desired position, accounting for PID output and a deadband around the desired position.
• More API details in API.md

If you want to use motors with your Bricktronics Shield or Megashield, you may also be interested in these libraries:

• BricktronicsShield Arduino Library v1.2
• BricktronicsMegashield Arduino Library v1.2

Wayne and Layne, LLC and our products are not connected to or endorsed by the LEGO Group. LEGO, Mindstorms, and NXT are trademarks of the LEGO Group.