tgmichel / adafruit-motorhat-c

C port of the official Python MotorHAT library

Adafruit MotoHAT C Port

This a rather limited C port - only Stepper code and oneStep method - of Adafruit's official Python Library. The Motorhat uses the TB6612 Motor driver so you can probably use this code with it.

Tested on a Raspberry Pi 3 B+.

Depedencies

• WiringPi

Configuration

• Probably a good idea to increase the default i2c communication speed in "/boot/config.txt" (i.e. dtparam=i2c_arm_baudrate=3200000)
• PWM_FREQUENCY is setup to 3200.00Hz by default in "AdafruitMotorHat.h"
• MODE_SINGLE_STEP, MODE_DOUBLE_STEP, MODE_INTERLEAVE_STEP and MODE_MICRO_STEP are implemented.
• MODE_MICRO_STEP can operate on 1/8 and 1/16

Run the example

• make
• ./example

In the example code a microswitch in GPIO 17 (WiginPi GPIO 0) is expected to be HIGH by default. When LOW will run the motor.

Original library written by Limor Fried for Adafruit Industries. MIT license, all text above must be included in any redistribution.