Definition:

#include <aMD23.tea>




aMD23_SetMode(

unsigned char controllerAddr, char mode);

Parameters:

controllerAddr	-	The I2C bus address of the MD23.  Default is 176 (aka 0xB0).
mode	-	The operational mode for the MD23 to run as.

Description:

This routine sets the operational mode for the MD23 to operate.  Mode 0 (which is the default) where the speed ranges are 0 (full reverse) to 128 (stop) to 255 (full forward).  Mode 1 is similiar to Mode 0, except speed values are interprited as signed values where -128 (full reverse) to 0 (stop) to 127 (full forward).  Mode 2 will control both motors at the same time.  Speed1 setting is the motor speed and Speed2 setting are the turn value.  Mode 3 is similiar to Mode 2, except the speed values are interprited as signed values.

Example:

r = aMD23_SetMode(MD23_ADDR,MD23_MODE2);

This would set the operational mode to Mode 2.

Related:

aMD23_GetMode, aMD23_SetEncoder, aMD23_GetEncoderLow, aMD23_GetEncoderHigh, aMD23_SetSpeed1, aMD23_SetSpeed2, aMD23_GetMotorCurrent, aMD23_GetBatteryVoltage