Adafruit_MotorShield Class Reference

#include <Adafruit_MotorShield.h>

Public Member Functions
	Adafruit_MotorShield (uint8_t addr=0x60)
	Create the Motor Shield object at an I2C address, default is 0x60. More...
bool	begin (uint16_t freq=1600, TwoWire *theWire=&Wire)
	Initialize the I2C hardware and PWM driver, then turn off all pins. More...
Adafruit_DCMotor *	getMotor (uint8_t n)
	Mini factory that will return a pointer to an already-allocated Adafruit_DCMotor object. Initializes the DC motor and turns off all pins. More...
Adafruit_StepperMotor *	getStepper (uint16_t steps, uint8_t n)
	Mini factory that will return a pointer to an already-allocated Adafruit_StepperMotor object with a given 'steps per rotation. Then initializes the stepper motor and turns off all pins. More...
void	setPWM (uint8_t pin, uint16_t val)
	Helper that sets the PWM output on a pin and manages 'all on or off'. More...
void	setPin (uint8_t pin, boolean val)
	Helper that sets the PWM output on a pin as if it were a GPIO. More...

Friends
class	Adafruit_DCMotor
	Let DCMotors control the Shield.

Detailed Description

Object that controls and keeps state for the whole motor shield. Use it to create DC and Stepper motor objects!

Constructor & Destructor Documentation

Adafruit_MotorShield()

Adafruit_MotorShield::Adafruit_MotorShield

(

uint8_t

addr = 0x60

)

Create the Motor Shield object at an I2C address, default is 0x60.

Parameters

addr	Optional I2C address if you've changed it

Member Function Documentation

begin()

bool Adafruit_MotorShield::begin	(	uint16_t	freq = 1600,
		TwoWire *	theWire = &Wire
	)

Initialize the I2C hardware and PWM driver, then turn off all pins.

Parameters

freq	The PWM frequency for the driver, used for speed control and microstepping. By default we use 1600 Hz which is a little audible but efficient.
theWire	A pointer to an optional I2C interface. If not provided, we use Wire or Wire1 (on Due)

Returns

true if successful, false otherwise

getMotor()

Adafruit_DCMotor * Adafruit_MotorShield::getMotor

(

uint8_t

num

)

Mini factory that will return a pointer to an already-allocated Adafruit_DCMotor object. Initializes the DC motor and turns off all pins.

Parameters

num	The DC motor port we want to use: 1 thru 4 are valid

Returns

NULL if something went wrong, or a pointer to a Adafruit_DCMotor

getStepper()

Adafruit_StepperMotor * Adafruit_MotorShield::getStepper	(	uint16_t	steps,
		uint8_t	num
	)

Mini factory that will return a pointer to an already-allocated Adafruit_StepperMotor object with a given 'steps per rotation. Then initializes the stepper motor and turns off all pins.

Parameters

steps	How many steps per revolution (used for RPM calculation)
num	The stepper motor port we want to use: only 1 or 2 are valid

Returns

NULL if something went wrong, or a pointer to a Adafruit_StepperMotor

setPWM()

void Adafruit_MotorShield::setPWM	(	uint8_t	pin,
		uint16_t	value
	)

Helper that sets the PWM output on a pin and manages 'all on or off'.

Parameters

pin	The PWM output on the driver that we want to control (0-15)
value	The 12-bit PWM value we want to set (0-4095) - 4096 is a special 'all on' value

setPin()

void Adafruit_MotorShield::setPin	(	uint8_t	pin,
		boolean	value
	)

Helper that sets the PWM output on a pin as if it were a GPIO.

Parameters

pin	The PWM output on the driver that we want to control (0-15)
value	HIGH or LOW depending on the value you want!

---

The documentation for this class was generated from the following files:

• Adafruit_MotorShield.h
• Adafruit_MotorShield.cpp