Easy PID Motor Controller (EPMC) Arduino I2C Lib

This library helps communicate with the already setup Easy PID Motor Controller Module (i.e L298N EPMC Module) with arduino microcontroller projects via I2C, after successful setup with the epmc_setup_application.

you can use it in your Arduino-based robotics project (e.g Arduino UNO, Arduino NANO, Arduino MEGA, Esp32, etc.)

A simple way to get started is simply to try out and follow the example code

How to Use the Library

• Ensure you have the Easy PID Motor Controller Module. Calibrate it and set it up using the epmc_setup_application.

• Download download the library by clicking on the green Code button above (or clone it)

  if you download it, extract it and change the folder name to epmc_arduino

• Move the downloaded library file - epmc_arduino - to your Arduino library folder

  e.g on linux: ... home/Arduino/libraries/

  e.g on windows: ... Documents/Arduino/libraries/

  (or any where your arduino libraries are stored)

• restart your ArduinoIDE and navigate to examples and run the example code and see how to control the motors.

• you can copy this example code into your project and modify it to your taste.

Basic Library functions and usage

• connect to epmc_driver shield module

  EPMC epmc(i2c_address)

  epmc.clearDataBuffer() # returns bool -> success

• send target angular velocity command

  epmc.writeSpeed(motor0_TargetVel, motor1_TargetVel)

• send PWM command

  epmc.writePWM(motor0_PWM, motor1_PWM)

• set motor command timeout

  epmc.setCmdTimeout(timeout_ms)

• get motor command timeout

  epmc.getCmdTimeout() # returns int -> motor command timeout in ms

• read motors angular position

  epmc.readPos(&motor0_angPos, &motor1_angPos)

• read motors angular velocity

  epmc.readVel(&motor0_angVel, &motor1_angVel)

• read motors angular position and velocity all at once

  epmc.readMotorData(float &pos0, float &pos1, float &v0, float &v1)

• read motorA maximum commandable angular velocity

  epmc.getMaxVel(motor_no) # returns float -> maxVel0 or maxVel1 based on the specified motor number