Library Description

The library covers all the necessary functions to control the H-Bridge 6 Click board™. A library performs communication with the device via the I2C interface. Using the PWM function, we can adjust the engine speed and direction.

Key functions:

• void hbridge6_generic_write ( uint8_t reg, uint8_t tx_data ) - Generic write function.
• uint8_t hbridge6_generic_read ( uint8_t reg ) - Generic read function.
• void hbridge6_set_direction ( uint8_t direction ) - Set the direction function.

Examples description

The application is composed of three sections :

• System Initialization - Initializes I2C and start to write log.
• Application Initialization - Initialization driver enables - I2C, reset the device and set default configuration, initialization and configure the PWM, also write log.
• Application Task - (code snippet) This is an example that demonstrates the use of H-Bridge 6 Click board™. It shows moving in the clockwise direction of rotation and moving in the counterclockwise direction of rotation from slow to fast speed. All data logs write on USB uart changes.

void application_task ( )
{
    mikrobus_logWrite( "-----------------------", _LOG_LINE );
    mikrobus_logWrite( "       Clockwise       ", _LOG_LINE );
    hbridge6_set_direction( HBRIDGE6_DIRECTION_CLOCKWISE );
    pwm_duty_cycle = 100;
    
    while ( pwm_duty_cycle < ( pwm_max_duty / 3 ) )
    {
        pwm_duty_cycle += 50;
        mikrobus_logWrite( " >", _LOG_TEXT );
        hbridge6_pwm_set_duty( pwm_duty_cycle );
        Delay_ms( 100 );
    }
    
    mikrobus_logWrite( "", _LOG_LINE );
    mikrobus_logWrite( "-----------------------", _LOG_LINE );
    mikrobus_logWrite( "         Brake         ", _LOG_LINE );
    hbridge6_set_direction( HBRIDGE6_DIRECTION_BRAKE );
    Delay_ms( 3000 );

    mikrobus_logWrite( "-----------------------", _LOG_LINE );
    mikrobus_logWrite( "    Counterclockwise   ", _LOG_LINE );
    hbridge6_set_direction( HBRIDGE6_DIRECTION_COUNTERCLOCKWISE );
    pwm_duty_cycle = 100;
    Delay_ms( 1000 );

    while ( pwm_duty_cycle < ( pwm_max_duty / 3 ) )
    {
        pwm_duty_cycle += 50;
        mikrobus_logWrite( " <", _LOG_TEXT );
        hbridge6_pwm_set_duty( pwm_duty_cycle );
        Delay_ms( 100 );
    }
    
    mikrobus_logWrite( "", _LOG_LINE );
    mikrobus_logWrite( "-----------------------", _LOG_LINE );
    mikrobus_logWrite( "         Brake         ", _LOG_LINE );
    hbridge6_set_direction( HBRIDGE6_DIRECTION_BRAKE );
    Delay_ms( 1000 );
    
    hbridge6_pwm_stop( );
    Delay_ms( 2000 );
    hbridge6_pwm_start( );
    Delay_ms( 1000 );
}

• uint32_t hbridge6_pwm_init ( uint16_t freq ) - Initializes the Timer module in PWM mode.
• void hbridge6_pwm_set_duty ( uint16_t duty ) - The function changes PWM duty ratio.
• void hbridge6_pwm_start( ) - Starts appropriate PWM module.
• void hbridge6_pwm_stop( ) - Stops appropriate PWM module.

Other mikroE Libraries used in the example:

• I2C
• PWM
• UART

Additional notes and informations

Depending on the development board you are using, you may need USB UART click, USB UART 2 click or RS232 click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.