Revision 9:9b00a28bc790, committed 2015-05-15

Comitter:

miczyg

Date:

Fri May 15 13:44:38 2015 +0000

Parent:

8:d192b38e0d5c

Child:

10:f22e6393af83

Commit message:

jk

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorL.cpp	Fri May 15 13:44:38 2015 +0000
@@ -0,0 +1,43 @@
+#include "MotorL.h"
+#include "mbed.h"
+
+MotorL::MotorL(PinName pwm, PinName fwd, PinName rev, PinName stby) :
+_pwm(pwm), _fwd(fwd), _rev(rev), _stdby(stby)//, speedControl(K, Ti, Td, itv)//, encoder(CH_A, CH_B, NC, pPerRev)
+{
+
+    // Set initial condition of PWM
+    _pwm.period(0.001);
+    _pwm = 0;
+    _stdby = 1;
+    // Initial condition of output enables
+    _fwd = 0;
+    _rev = 0;
+
+    //PID config
+    //speedControl.setInputLimits(0, 1);
+    //speedControl.setOutputLimits(0, 1);
+    //speedControl.setMode(AUTO); 
+
+}
+
+void MotorL::speed(float speed) {
+
+/*PID do enkoderow i utrzymywania stalej predkosci*/
+/*
+    if (speed != set_speed){
+        speedControl.setSetPoint(speed);
+        set_speed = speed;
+    }
+
+    pulses = encoder.getPulses();
+    curr_speed = (pulses-prev_pulses) / max_pulse_rate;
+    prev_pulses = pulses;
+
+    speedControl.setProcessValue(curr_speed);
+    speed = speedControl.compute();
+*/
+
+    _fwd = (speed > 0.0);
+    _rev = (speed < 0.0);
+    _pwm = abs(speed);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorL.h	Fri May 15 13:44:38 2015 +0000
@@ -0,0 +1,57 @@
+#ifndef MBED_MOTORL_H
+#define MBED_MOTORL_H
+
+#include "mbed.h"
+//#include "PID.h"
+
+/*nastawy regulatora PID*/
+/*
+const float K = 1;
+const float Ti = 0;
+const float Td = 0;
+const float itv = 0.001;
+#define AUTO 1
+*/
+/** Interface to control a standard DC motor
+*
+* with an H-bridge using a PwmOut and 2 DigitalOuts
+*/
+class MotorL {
+public:
+
+    /** Create a motor control interface
+    *
+    * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
+    * @param fwd A DigitalOut, set high when the motor should go forward
+    * @param rev A DigitalOut, set high when the motor should go backwards
+    */
+    MotorL(PinName pwm, PinName fwd, PinName rev, PinName stby);
+
+    /** Set the speed of the motor
+    *
+    * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+    */
+    void speed(float speed);
+    
+    /**Change the stand by status of H-bridge
+    *
+    * @param status 0 - bridge disabled, 1 - bridge enabled
+    */
+    void setStandby(bool status)
+    {
+        _stdby = status;
+    }
+
+protected:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+    DigitalOut _stdby;
+private:
+    //PID speedControl;
+    //QEI encoder;
+    float set_speed;
+    
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorR.cpp	Fri May 15 13:44:38 2015 +0000
@@ -0,0 +1,43 @@
+#include "MotorR.h"
+#include "mbed.h"
+
+MotorR::MotorR(PinName pwm, PinName fwd, PinName rev, PinName stby) :
+_pwm(pwm), _fwd(fwd), _rev(rev), _stdby(stby)//, speedControl(K, Ti, Td, itv)//, encoder(CH_A, CH_B, NC, pPerRev)
+{
+
+    // Set initial condition of PWM
+    _pwm.period(0.001);
+    _pwm = 0;
+    _stdby = 1;
+    // Initial condition of output enables
+    _fwd = 0;
+    _rev = 0;
+
+    //PID config
+    //speedControl.setInputLimits(0, 1);
+    //speedControl.setOutputLimits(0, 1);
+    //speedControl.setMode(AUTO); 
+
+}
+
+void MotorR::speed(float speed) {
+
+/*PID do enkoderow i utrzymywania stalej predkosci*/
+/*
+    if (speed != set_speed){
+        speedControl.setSetPoint(speed);
+        set_speed = speed;
+    }
+
+    pulses = encoder.getPulses();
+    curr_speed = (pulses-prev_pulses) / max_pulse_rate;
+    prev_pulses = pulses;
+
+    speedControl.setProcessValue(curr_speed);
+    speed = speedControl.compute();
+*/
+
+    _fwd = (speed > 0.0);
+    _rev = (speed < 0.0);
+    _pwm = abs(speed);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorR.h	Fri May 15 13:44:38 2015 +0000
@@ -0,0 +1,57 @@
+#ifndef MBED_MOTORR_H
+#define MBED_MOTORR_H
+
+#include "mbed.h"
+//#include "PID.h"
+
+/*nastawy regulatora PID*/
+/*
+const float K = 1;
+const float Ti = 0;
+const float Td = 0;
+const float itv = 0.001;
+#define AUTO 1
+*/
+/** Interface to control a standard DC motor
+*
+* with an H-bridge using a PwmOut and 2 DigitalOuts
+*/
+class MotorR {
+public:
+
+    /** Create a motor control interface
+    *
+    * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
+    * @param fwd A DigitalOut, set high when the motor should go forward
+    * @param rev A DigitalOut, set high when the motor should go backwards
+    */
+    MotorR(PinName pwm, PinName fwd, PinName rev, PinName stby);
+
+    /** Set the speed of the motor
+    *
+    * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+    */
+    void speed(float speed);
+    
+    /**Change the stand by status of H-bridge
+    *
+    * @param status 0 - bridge disabled, 1 - bridge enabled
+    */
+    void setStandby(bool status)
+    {
+        _stdby = status;
+    }
+
+protected:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+    DigitalOut _stdby;
+private:
+    //PID speedControl;
+    //QEI encoder;
+    float set_speed;
+    
+};
+
+#endif