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Pololu-Zumo-Shield-Arduino-bibliotheque-Zumo (voir la source)
Version du 11 avril 2017 à 20:13
, 11 avril 2017 à 20:13→ZumoMotors
The ZumoMotors library provides functions for PWM-based speed (and direction) control of the two motors on the Zumo with the onboard DRV8835 dual motor driver. On Arduinos with ATmega328P, ATmega168, and ATmega32U4 microcontrollers (which include the A-Star 32U4 Prime, Arduino Leonardo, Arduino Uno, and most older Arduinos), the motor control functions use hardware PWM outputs from Timer1 to generate pulse width modulation at a 20 kHz frequency. (See Section 3 "Le Shield Zumo en détails" for more details about the motor driver and its connections.)
The ZumoMotors library provides functions for PWM-based speed (and direction) control of the two motors on the Zumo with the onboard DRV8835 dual motor driver. On Arduinos with ATmega328P, ATmega168, and ATmega32U4 microcontrollers (which include the A-Star 32U4 Prime, Arduino Leonardo, Arduino Uno, and most older Arduinos), the motor control functions use hardware PWM outputs from Timer1 to generate pulse width modulation at a 20 kHz frequency. (See Section 3 "Le Shield Zumo en détails" for more details about the motor driver and its connections.)
If you accidentally soldered a motor to the Zumo Shield backwards (opposite the orientation indicated in the [[|assembly instructions]), you can simply call {{fname|flipLeftMotor(true)}} and/or {{fname|flipRightMotor(true)}} to make the motors behave consistently with the directions in your code.
If you accidentally soldered a motor to the Zumo Shield backwards (opposite the orientation indicated in the [[Pololu-Zumo-Shield-Arduino-Assembler|assembly instructions]]), you can simply call {{fname|flipLeftMotor(true)}} and/or {{fname|flipRightMotor(true)}} to make the motors behave consistently with the directions in your code.
== ZumoBuzzer ==
The ZumoBuzzer library provides functions that allow various sounds to be played on the buzzer of the Zumo Shield, from simple beeps to complex tunes. (See Section 3 for more details about the buzzer and Section 3.c for an explanation of the buzzer control jumper settings.)
The ZumoBuzzer library is fully compatible with the [https://www.pololu.com/docs/0J18/3 OrangutanBuzzer] functions in the [https://www.pololu.com/docs/0J20 Pololu AVR C/C++ Library], so any melodies written for OrangutanBuzzer functions will also work with ZumoBuzzer functions.
{{Pololu-Zumo-Shield-Arduino-TRAILER}}
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