example1.h

00001 
00002 #include "mbed.h"
00003 #include "SimpleTLE5206.h"
00004 
00005 /* NOTE! The SimpleTLE5206 library supports the TLE5206 in 
00006  * Mode 2 Sign/Magnitude Control using two PWM outputs to
00007  * control speed and direction. 
00008  *
00009  * Pins that can be used are p21, p22, p23, p24, p25 and/or p26
00010  * in pairs. So the library supports upto 3 TLE5206 devices/motors.
00011  *
00012  * All PWM outputs use a common duty cycle. Therefore the third arg
00013  * to the constructor must be the same for all TLE5206 devices. To
00014  * ensure this, we use a #define DUTY_CYCLE_IN_HERTZ and supply it
00015  * to all instances of controllers created.
00016  *
00017  * Additionally you can use LED1, LED2, LED3 and.or LED4 as mimics.
00018  * However, if using:-
00019  *  LED1 you cannot use p26 to drive an in to TLE5206
00020  *  LED2 you cannot use p25 to drive an in to TLE5206
00021  *  LED3 you cannot use p24 to drive an in to TLE5206
00022  *  LED4 you cannot use p23 to drive an in to TLE5206
00023  *
00024  * The function SimpleTLE5206::setSpeed() takes a single arg, a double,
00025  * and should be in the range +1.0 to -1.0 where +1.0 is full speed in
00026  * a CW direction, -1.0 is full speed in a CCW direction and 0 is stopped.
00027  */
00028 
00029 #define DUTY_CYCLE_IN_HERTZ 50
00030 
00031 // Create a motor "A", driven by a TLE5206 on pins 21 and 22 (attach scope first, not a motor!)
00032 SimpleTLE5206Output Ain1(p21);    // TLE5206 In1 is connected to p21
00033 SimpleTLE5206Output Ain2(p22);    // TLE5206 In2 is connected to p22
00034 SimpleTLE5206 motorA(&Ain1, &Ain2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
00035 
00036 // Create a motor "B", driven by a TLE5206 but on LEDs as a mimic.
00037 SimpleTLE5206Output Bin1(LED1);   // TLE5206 In1 is connected to LED1
00038 SimpleTLE5206Output Bin2(LED2);   // TLE5206 In2 is connected to LED2
00039 SimpleTLE5206 motorB(&Bin1, &Bin2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
00040 
00041 // Create a motor "C", driven by a TLE5206 but on LEDs as a mimic.
00042 SimpleTLE5206Output Cin1(LED3);   // TLE5206 In1 is connected to LED3
00043 SimpleTLE5206Output Cin2(LED4);   // TLE5206 In2 is connected to LED4
00044 SimpleTLE5206 motorC(&Cin1, &Cin2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
00045 
00046 Ticker A, B, C;
00047 
00048 volatile double demand[3];
00049 volatile double speed[3];
00050 
00051 #define PI 3.14159265
00052 
00053 void Acallback(void) {
00054     speed[0] = sin(demand[0] * PI / 180.0);
00055     if (++demand[0] >= 360.0) demand[0] = 0.0;
00056     motorA.setSpeed(speed[0]);
00057 }
00058 
00059 void Bcallback(void) {
00060     speed[1] = sin(demand[1] * PI / 180.0);
00061     if (++demand[1] >= 360.0) demand[1] = 0.0;
00062     motorB.setSpeed(speed[1]);
00063 }
00064 
00065 void Ccallback(void) {
00066     speed[2] = sin(demand[2] * PI / 180.0);
00067     if (++demand[2] >= 360.0) demand[2] = 0.0;
00068     motorC.setSpeed(speed[2]);
00069 }
00070 
00071 int main() {
00072 
00073     volatile int trash = 0;
00074 
00075     motorA.setSpeed(0);
00076     motorB.setSpeed(0);
00077     motorC.setSpeed(0);
00078     
00079     // Init the global variables.
00080     for (int i = 0; i < 3; i++) {
00081         demand[i] = speed[i] = 0.0;
00082     }
00083     
00084     // Note, you probably wouldn't want to move the speed of
00085     // a motor at this rate, may break it. This example uses 
00086     // a high update rate (0.025) assuming you are attaching 
00087     // an oscilloscope just for testing. It goes without saying
00088     // that the update rates for B and C are way to big, I just 
00089     // choose these (0.005 and 0.0025) because it looks pretty
00090     // when used on LEDs!
00091     // Always use appropriate accel/decel rates when handling 
00092     // motors/external hardware that moves. See example2.h for
00093     // a simple linear accel/decel profiler that does this.
00094     
00095     A.attach(Acallback, 0.025);
00096     B.attach(Bcallback, 0.005);
00097     C.attach(Ccallback, 0.0025);
00098     
00099     while(1) {    
00100         /* The main loop has little to do as the Ticker callbacks
00101            set-up the speed changes for the example. So give it something 
00102            to do. Maybe change this and use the spare time to calculate PI 
00103            more accurately? Lol, just kidding. */
00104         trash++;
00105     }
00106 }
00107 
00108