photodude / dualvnh5019motorshieldmod3 Goto Github PK

Noticed a typo

The evaluation on the Timer5 pins for the M4brake function evals PWMpin3 instead of PWMpin4

`void DualVNH5019MotorShieldMod3::setM4Brake(int brake)
{
// Normalize brake
if (brake < 0)
{
brake = -brake;
}

if (brake > 400) // Max brake
{
brake = 400;
}

digitalWrite(_INA4, LOW);
digitalWrite(_INB4, LOW);

#ifdef DUALVNH5019MOTORSHIELD_TIMER5_AVAILABLE
if (_PWM3 == _PWM3_TIMER5_PIN && _PWM3 == _PWM3_TIMER5_PIN)`

We should consider making pololu/dual-vnh5019-motor-shield a dependency, and this library as a shim (I think that's the right term) for the additional functions

This would rewrite the library

namespace pololu/dual-vnh5019-motor-shield = DualVNH5019MotorShieldMod1;
namespace pololu/dual-vnh5019-motor-shield = DualVNH5019MotorShieldMod2;

core library functions would be parent functions that we pass two sets of parameters to...

There are pros and cons to consider in making this change

The setM4Speed() and setM4Brake functions are currently trying to use OCR5B, which is the same one motor 3 is trying to use.
If motor 4 is on Pin 46, then the motor 4 functions should be using OCR5A.

In your library code you reference _CS4 = 9; //analog 9 pin should that read _CS4 = A9; //analog 9 pin

Just trying to understand the code a bit more and looks like you have PWM1 and PWM2 pins listed as default 9, 10 in DualVNH5019MotorShieldMod3.cpp but later reference them to Timer 1 in comments and README however aren't they associated with Timer 2 for the Mega?

Also, wondering if I can use pins 44, and 45 by declaring those pins for PWM3 and PWM4 when constructing the object without issue as they are on the same timer. Or would I have to edit other parts? The reason is I am using the sensor shield (v2) and 44 and 45 make for easier cabling as opposed to 45 and 46

Thanks for the library

On the Arduino Mega we have 6 timers and 15 PWM outputs:

Pins 4 and 13: controlled by Timer0
Pins 11 and 12: controlled by Timer1
Pins 9 and10: controlled by Timer2
Pin 2, 3 and 5: controlled by timer 3
Pin 6, 7 and 8: controlled by timer 4
Pin 46, 45 and 44:: controlled by timer 5