Easy PID Motor Controller (EPMC) Arduino I2C Client Library - EPMC_I2C_Client

This library allows Arduino-compatible boards to communicate with the Easy PID Motor Controller (EPMC) over I2C for motor control and feedback, 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

NOTE: This library assumes IEEE-754 little-endian float representation on both the controller and MCU.

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_I2C_Client

• Move the downloaded library file - EPMC_I2C_Client - 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_I2C_Client controller(i2c_address)

  controller.begin()

  controller.clearDataBuffer() # returns bool -> success

• send target angular velocity command

  controller.writeSpeed(motor0_TargetVel, motor1_TargetVel)

• send PWM command

  controller.writePWM(motor0_PWM, motor1_PWM)

• set motor command timeout

  controller.setCmdTimeout(timeout_ms)

• get motor command timeout

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

• read motors angular position

  controller.readPos(&motor0_angPos, &motor1_angPos)

• read motors angular velocity

  controller.readVel(&motor0_angVel, &motor1_angVel)

• read motors angular position and velocity all at once

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

• read motorA maximum commandable angular velocity

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