Pololu Dual MC33926 - Manual (Page 14)

}
delay(2);
}
for (int i = 400; i >= -400; i--)
{
md.setM1Speed(i);
stopIfFault();
if (abs(i)%200 == 100)
{
Serial.print("M1 current: ");
Serial.println(md.getM1CurrentMilliamps());
}
delay(2);
}
for (int i = -400; i <= 0; i++)
{
md.setM1Speed(i);
stopIfFault();
if (abs(i)%200 == 100)
{
Serial.print("M1 current: ");
Serial.println(md.getM1CurrentMilliamps());
}
delay(2);
}
for (int i = 0; i <= 400; i++)
{
md.setM2Speed(i);
stopIfFault();
if (abs(i)%200 == 100)
{
Serial.print("M2 current: ");
Serial.println(md.getM2CurrentMilliamps());
}
delay(2);
}
for (int i = 400; i >= -400; i--)
{
md.setM2Speed(i);
stopIfFault();
if (abs(i)%200 == 100)
{
Serial.print("M2 current: ");
Serial.println(md.getM2CurrentMilliamps());
}
delay(2);
}
for (int i = -400; i <= 0; i++)
{
md.setM2Speed(i);
stopIfFault();
if (abs(i)%200 == 100)
{
Serial.print("M2 current: ");
Serial.println(md.getM2CurrentMilliamps());
}
delay(2);
}
}
This example ramps motor 1 speed from zero to max speed forward, to max speed reverse, and back to zero again
over a period of about 3 s, while checking for motor faults and periodically printing the motor current to the serial
monitor. It then performs the same process on motor 2 before repeating all over again.
Note: Even if you do not have any motors yet, you can still try out this sketch and use the motor
indicator LEDs for feedback that the shield is working properly.
Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation
3. Getting Started with an Arduino Page 14 of 24