Documents » Application Note: Using the Motor Driver on the 3pi, Orangutan LV-168, and Baby Orangutan B »
6. Motor Voltage Waveforms
The following oscilloscope screen captures demonstrate how our motor control macros from Section 5 affect the motor driver outputs. These captures were taken using a Baby Orangutan B-168 running off of a 12 V battery with a motor connected.
M1_FORWARD(63);
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| Motor outputs M1A (yellow) and M1B (blue) for driving “forward” at 25% duty cycle (OCR0B=63, OCR0A=0). The green channel shows motor current. |
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M1_FORWARD(191);
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| Motor outputs M1A (yellow) and M1B (blue) for driving “forward” at 75% duty cycle (OCR0B=191, OCR0A=0). The green channel shows motor current. |
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