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Fatima Idrees 2025-05-18 13:41:10 +03:00
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@ -119,22 +119,38 @@ The I2CMotor offers exceptional versatility, as it can function as a standalone
### API Overview
| Method & Signature | Description | Example Usage |
|------------------------------------------------------|---------------------------------------------------------------------|---------------------------------------------|
| `begin()` | Initializes the I2C bus and prepares the library | `motor.begin();` |
| `setAddress(uint8_t addr)` | Sets the target slave I2C address for all subsequent commands | `motor.setAddress(0x08);` |
| `setDeviceName(const char* name)` | Sets the device name on the slave (stored in EEPROM) | `motor.setDeviceName("MyMotor");` |
| `identify()` | Requests and returns the identification string from the slave | `String id = motor.identify();` |
| `motorControl(uint8_t motor, uint8_t spd, uint8_t dir)` | Controls a single motor (1=A, 2=B), speed (0-100), direction (0=FWD, 1=REV) | `motor.motorControl(1, 80, 0);` |
| `bothMotorsControl(uint8_t sa, uint8_t da, uint8_t sb, uint8_t db)` | Controls both motors at once: speeds and directions | `motor.bothMotorsControl(100, 0, 80, 1);` |
| `stopAllMotors()` | Stops both motors (sets speed to 0) | `motor.stopAllMotors();` |
| `allStop()` | Emergency stop (hardware-level, all motors off) | `motor.allStop();` |
| `scanI2CBusForMotors()` (custom function) | Scans the I2C bus for compatible motor controllers | `scanI2CBusForMotors();` |
| `setSlaveAddress(uint8_t currAddr, uint8_t newAddr)` (custom function) | Sends address change command to the slave | `setSlaveAddress(0x08, 0x09);` |
| Function | Description | Parameters | Return Type |
|----------|-------------|------------|-------------|
| `I2CMotor()` | Default constructor. | – | – |
| `I2CMotor(uint8_t sda, uint8_t scl, uint32_t freq)` | Constructor with I2C pin and frequency configuration. | `sda` (I2C SDA pin), `scl` (I2C SCL pin), `freq` (I2C frequency) | – |
| `void begin()` | Initializes I2C communication and scans for the motor controller. | – | – |
| `bool found()` | Checks if a motor controller was found. | – | `bool` |
| `uint8_t address()` | Returns the detected motor controller I2C address. | – | `uint8_t` |
| `String identify()` | Requests and returns the identification string from the motor controller. | – | `String` |
| `void setDeviceName(const char* newname)` | Sets a new name for the motor controller. | `newname` (C-string) | – |
| `void setMinMax(uint8_t min_pwm, uint8_t max_pwm)` | Sets minimum and maximum PWM (speed) values. | `min_pwm`, `max_pwm` | – |
| `void setMotorDirection(uint8_t motor, uint8_t dir)` | Sets direction for a specified motor. | `motor` (motor number), `dir` (1: CW, 2: CCW) | – |
| `void setMotorSpeed(uint8_t motor, uint8_t speed_percent)` | Sets speed (as percentage) for a specified motor. | `motor` (motor number), `speed_percent` | – |
| `void emergencyStop()` | Sends an emergency stop command to the motor controller. | – | – |
| `uint8_t scanForMotorController()` | Scans the I2C bus for a compatible motor controller and returns its address. | – | `uint8_t` |
| `String queryIdentification(uint8_t addr)` | Requests and returns identification string for a given I2C address. | `addr` (I2C address) | `String` |
#### **Parameter Descriptions**
- **motor**: 1 = Motor A, 2 = Motor B
- **spd / sa / sb**: Speed percentage (0-100)
- **dir / da / db**: Direction (0 = Forward, 1 = Reverse)
- **addr / currAddr / newAddr**: 7-bit I2C address (e.g., 0x08)
#### **Typical Usage Flow**
1. `motor.begin();`
2. `motor.setAddress(0x08);`
3. `motor.setDeviceName("TestMotor");`
4. `String id = motor.identify();`
5. `motor.motorControl(1, 80, 0);`
6. `motor.bothMotorsControl(100, 0, 80, 1);`
7. `motor.stopAllMotors();`
8. `motor.allStop();`
9. `scanI2CBusForMotors();`
10. `setSlaveAddress(0x08, 0x09);` *(then use new address for further commands)*
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