1 ' I2C Motor Driver DRV8830 Test
2 ' A:Motor 1's DRV8830 Address , B:Motor 2's DRV8830 Address
3 ' C:Motor 1's speed, D:Motor 2's speed
4 ' S:Sensor (Analog input) value
10 clt:clv
20 A=#64:B=#63
99 goto 710
100 ' set speed.C:Mortor 1's Speed.D:Motor 2's Speed
110 if C<0 then E=1 else E=2
120 if C=0 then E=0
130 E=E+((ABS(C)-5)<<2)
140 if D<0 then F=1 else F=2
150 if D=0 then F=0
160 F=F+((ABS(D)-5)<<2)
170 poke #700, 0, E, F
180 R=i2cw(A, #700, 1, #701, 1)
190 R=i2cw(B, #700, 1, #702, 1)
200 return
250 ' stop
260 poke #700, 0, 3, 3
270 R=i2cw(A, #700, 1, #701, 1)
280 R=i2cw(B, #700, 1, #702, 1)
290 return
700 '
710 for I=0 to 50
720 P=ANA():if P<400 goto 750
730 C=-60:D=0:gosub 110
740 wait 60
750 C=80:D=80:gosub 110
760 wait 15
770 next
780 end