The library used to control DC motor and stepper motor, including C.W rota

tion, C.C.W rotation, speed adjustment and stopping.

1. Open drive hardware of DC motor and stepper motor, read Product ID and

Version ID.

void init();

2. Shutdown the drive hardware.void shutdown();

3. Stop the motor rotation.

void stop();

4. Set the DC motor rotation direction and start rotating.

void start(uint8_t dir);dir:

set direction

CW or CCW

5. Set angle, speed, direction of the stepper motor rotation and start rot

ating.

void start(float angle, uint16_t speed, uint8_t dir);angle: set the rotati

on resolution.

The maximum resolution is 0.9° which means the minimum rotate angle is 0.9

°.

So that the motor won't rotate if the resolution set to be 0.1°and only ro

tate to 0.9° if the resolution set to be 1°.

Min: 0° (if the rotate angel set to be 0, the motor will keep rotating).

speed: set speed. The speed range is 0~1023. Set it to 0 and the rotate sp

eed is 0r/min;set it to maximum 1023 and the rotate speed is 200r/min.

dir: set direction. dir=CW: rotate in C.W.(Clockwise) ; dir=CCW: rotate in

CCW(anti-clockwise)

6. Speed control of DC motor & stepper motor

void speed(uint16_t val);val:

set speed

motor:0<=val<=4096

stepper:

0<=val<=1023