Example for a Magnevation Board used previously on a OOPICII
Fork of Motordriver by
Revision 0:edc152f119b7, committed 2010-11-06
- Comitter:
- littlexc
- Date:
- Sat Nov 06 13:05:17 2010 +0000
- Child:
- 1:3da7302dc9ae
- Commit message:
- V1.0
Changed in this revision
motordriver.cpp | Show annotated file Show diff for this revision Revisions of this file |
motordriver.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motordriver.cpp Sat Nov 06 13:05:17 2010 +0000 @@ -0,0 +1,87 @@ + /*motor driver libary modified from the following libary, + * + * mbed simple H-bridge motor controller + * Copyright (c) 2007-2010, sford + * + * by Christopher Hasler. + * + * from sford's libary, + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "motordriver.h" + +#include "mbed.h" + +Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable): + _pwm(pwm), _fwd(fwd), _rev(rev) { + + // Set initial condition of PWM + _pwm.period(0.001); + _pwm = 0; + + // Initial condition of output enables + _fwd = 0; + _rev = 0; + + //set if the motor dirver is capable of braking. (addition) + Brakeable= brakeable; +} + +void Motor::speed(float speed) { + _fwd = (speed > 0.0); + _rev = (speed < 0.0); + _pwm = abs(speed); +} +// (additions) +void Motor::coast(void) { + _fwd = 0; + _rev = 0; + _pwm = 0; +} + +void Motor::stop(void) { + if (Brakeable == 1) { + _fwd = 1; + _rev = 1; + _pwm = 0.5; + } + else + return; +} + +/* + test code, this demonstrates working motor drivers. + +Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break +Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break +int main() { + for (float s=-1.0; s < 1.0 ; s += 0.01) { + A.speed(s); + B.speed(s); + wait(0.02); + } + A.stop(); + B.stop(); + wait(1); + A.coast(); + B.coast(); +} +*/ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motordriver.h Sat Nov 06 13:05:17 2010 +0000 @@ -0,0 +1,77 @@ +/*motor driver libary modified from the following libary, +* +* mbed simple H-bridge motor controller +* Copyright (c) 2007-2010, sford +* +* by Christopher Hasler. +* +* from sford's libary, +* +* Permission is hereby granted, free of charge, to any person obtaining a copy +* of this software and associated documentation files (the "Software"), to deal +* in the Software without restriction, including without limitation the rights +* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +* copies of the Software, and to permit persons to whom the Software is +* furnished to do so, subject to the following conditions: +* +* The above copyright notice and this permission notice shall be included in +* all copies or substantial portions of the Software. +* +* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +* THE SOFTWARE. +*/ + +#ifndef MBED_MOTOR_H +#define MBED_MOTOR_H + +#include "mbed.h" + +/** Interface to control a standard DC motor +* with an H-bridge using a PwmOut and 2 DigitalOuts +*/ +class Motor { + 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 +* @param set if the motor driver is able to do braking 0 false 1 true. (addition) +*/ + Motor(PinName pwm, PinName fwd, PinName rev, int brakeable); + +/** Set the speed of the motor (addition) +* +* @param speed The speed of the motor as a normalised value between -1.0 and 1.0 +*/ + void speed(float speed); + +/** Set the the motor to coast +* +* @param void motor coasts until another instruction is recived +*/ + + void coast(void); + +/** Set the motor to dynamicaly brake (addition) +* +* @param void motor dynamicaly brakes until another instruction is recived +*/ + + void stop(void); + + protected: + PwmOut _pwm; + DigitalOut _fwd; + DigitalOut _rev; + int Brakeable; // (addition) + +}; + +#endif