3.a.12. Command 216: Get Average Motor Current

Effect: This command will cause the mega168 to load the eight most significant bits of the running ADC average for the specified motor into its SPDR (SPI data register). Once loaded, sending another byte over the SPI will load the value into the mega644’s SPDR. This second byte can be the NULL command (255—Section 3.d.06) or merely a junk data byte (any byte so long as the MSB is zero). It is recommended you do not begin transmission of this second byte until 3 us after the transmission of the command byte has completed. This is to make sure the mega168 has time to load the SPDR.

Values sent: motor (1 bit)

command byte = 216 | motor bit