VNH2SP30 H-Bridge DC motor driver library for SparkFun MonsterMoto Shields and el-cheapo Chinese driver modules

The original example sketch by Jim Lindblom is now made object-oriented programming friendly. A few extra functions have also been added to the library. See below for details.

This library is written in object-oriented C. I could have written a C++ Class instead but would like to get a hang of C-style OOP.

---

Preparing the SparkFun MonsterMoto Shield for half-bridge mode operation:

When activating half bridge mode on the SparkFun MonsterMoto Shield:

1. remove R2 and short pads,
2. short InA and InB,
3. short OutA and OutB;
4. Remove any header pins on InB and Out B.

---

Using the library:

1. Make sure the files in this repository are located in your Arduino library folder or your Arduino sketch folder.

2. Define your pins in the Arduino Sketch. For example:

// Sparkfun MonsterMoto motor driver pins
#define MD_A_EN A0
#define MD_A_CS A2
#define MD_A_INA 7
#define MD_A_INB 8  // put a placeholder value i.e. 255 when using halfbridge mode
#define MD_A_PWM 5

// and if you are also using the other VNH2SP30 driver chip
#define MD_B_EN A1
#define MD_B_CS A3
#define MD_B_INA 4
#define MD_B_INB 9  // put a placeholder value i.e. 255 when using halfbridge mode 
#define MD_B_PWM 6

3. Create instances of the motorDriver "class" in your Arduino file.

MotorDriver* motorDriver_A = MotorDriver__create( MD_A_EN, MD_A_CS, MD_A_INA,
    MD_A_INB, MD_A_PWM, FULLBRIDGE );
    
MotorDriver* motorDriver_B = MotorDriver__create( MD_B_EN, MD_B_CS, MD_B_INA,
    MD_B_INB, MD_B_PWM, FULLBRIDGE );

---

Available member functions:

Check the C implementation file for more details. But in summary:

• Change bridge mode - YOU HAVE TO FIGURE OUT SOME WAY TO UNDO THE HALF-BRIDGE MODIFICATIONS IN SITU

void MotorDriver__changeBridgeMode( MotorDriver* self, DriverConfiguration mode );

• Check if motor driver is faulty

bool MotorDriver__motorDriverIsFaulty( MotorDriver* self );

• Check motor current draw

unsigned int MotorDriver__checkMotorCurrentDraw( MotorDriver* self );

• Turn off motor

void MotorDriver__turnOffMotor( MotorDriver* self );

• Turn on motor

bool MotorDriver__turnOnMotor( MotorDriver* self, MotorState state );

• Get motor state

MotorState MotorDriver__getMotorState( MotorDriver* self );