Didier Donsez / Mbed 2 deprecated NucleoF401_MonsterMotoShield

Simple Example of Program for the Sparkfun Monster Moto Shield https://www.sparkfun.com/products/10182 with the ST Nucleo F401RE Adapted by : Didier Donsez From the Arduino sketch example coded by: Jim Lindblom, SparkFun Electronics License: CC-SA 3.0, feel free to use this code however you'd like. Please improve upon it! Let me know how you've made it better. This is really simple example code to get you some basic functionality with the MonsterMoto Shield. The MonsterMote uses two VNH2SP30 high-current full-bridge motor drivers.

Dependencies:   mbed

/media/uploads/donsez/dscn4185.jpg

main.cpp@0:50670948e4d6, 2014-08-01 (annotated)

Committer:
donsez
Date:
Fri Aug 01 21:44:44 2014 +0000
Revision:
0:50670948e4d6
Initial commit of the example for MonsterMotoShield;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
donsez 0:50670948e4d6 1 #include "mbed.h"
donsez 0:50670948e4d6 2 /*
donsez 0:50670948e4d6 3 Example of Program for the MonsterMoto Shield on the ST Nucleo F401RE
donsez 0:50670948e4d6 4 Code by : Didier Donsez
donsez 0:50670948e4d6 5
donsez 0:50670948e4d6 6 Based on the Arduino sketch example coded by: Jim Lindblom, SparkFun Electronics
donsez 0:50670948e4d6 7
donsez 0:50670948e4d6 8 License: CC-SA 3.0, feel free to use this code however you'd like.
donsez 0:50670948e4d6 9 Please improve upon it! Let me know how you've made it better.
donsez 0:50670948e4d6 10
donsez 0:50670948e4d6 11 This is really simple example code to get you some basic
donsez 0:50670948e4d6 12 functionality with the MonsterMoto Shield. The MonsterMote uses
donsez 0:50670948e4d6 13 two VNH2SP30 high-current full-bridge motor drivers.
donsez 0:50670948e4d6 14 */
donsez 0:50670948e4d6 15
donsez 0:50670948e4d6 16 #define LOW 0
donsez 0:50670948e4d6 17 #define HIGH 1
donsez 0:50670948e4d6 18
donsez 0:50670948e4d6 19 DigitalOut statpin(D13, LOW);
donsez 0:50670948e4d6 20
donsez 0:50670948e4d6 21 #define MAXSPEED 1.0f
donsez 0:50670948e4d6 22
donsez 0:50670948e4d6 23 #define BRAKEVCC 0
donsez 0:50670948e4d6 24 #define CW 1
donsez 0:50670948e4d6 25 #define CCW 2
donsez 0:50670948e4d6 26 #define BRAKEGND 3
donsez 0:50670948e4d6 27 #define CS_THRESHOLD 0.5f
donsez 0:50670948e4d6 28
donsez 0:50670948e4d6 29
donsez 0:50670948e4d6 30 /* VNH2SP30 pin definitions */
donsez 0:50670948e4d6 31 DigitalOut inLeftApin(D7, LOW); // INA: Clockwise input
donsez 0:50670948e4d6 32 DigitalOut inRightApin(D4, LOW); // INA: Clockwise input
donsez 0:50670948e4d6 33 DigitalOut inLeftBpin(D8, LOW); // INB: Counter-clockwise input
donsez 0:50670948e4d6 34 DigitalOut inRightBpin(D9, LOW); // INB: Counter-clockwise input
donsez 0:50670948e4d6 35 PwmOut pwmLeftpin(PB_4); // PWM input
donsez 0:50670948e4d6 36 PwmOut pwmRightpin(PB_10); // PWM input
donsez 0:50670948e4d6 37 AnalogIn csLeftpin(A2); // CS: Current sense ANALOG input
donsez 0:50670948e4d6 38 AnalogIn csRightpin(A3); // CS: Current sense ANALOG input
donsez 0:50670948e4d6 39 AnalogIn enLeftpin(A0); // EN: Status of switches output (Analog pin)
donsez 0:50670948e4d6 40 AnalogIn enRightpin(A1); // EN: Status of switches output (Analog pin)
donsez 0:50670948e4d6 41
donsez 0:50670948e4d6 42
donsez 0:50670948e4d6 43 void setupShield()
donsez 0:50670948e4d6 44 {
donsez 0:50670948e4d6 45 pwmLeftpin.period_ms(10);
donsez 0:50670948e4d6 46 pwmLeftpin.pulsewidth_ms(1);
donsez 0:50670948e4d6 47 pwmLeftpin.write(0.0f);
donsez 0:50670948e4d6 48
donsez 0:50670948e4d6 49 pwmRightpin.period_ms(10);
donsez 0:50670948e4d6 50 pwmRightpin.pulsewidth_ms(1);
donsez 0:50670948e4d6 51 pwmRightpin.write(0.0f);
donsez 0:50670948e4d6 52 }
donsez 0:50670948e4d6 53
donsez 0:50670948e4d6 54 void checkShield()
donsez 0:50670948e4d6 55 {
donsez 0:50670948e4d6 56 if ((csLeftpin.read_u16() < CS_THRESHOLD) && (csRightpin.read_u16() < CS_THRESHOLD))
donsez 0:50670948e4d6 57 statpin.write(HIGH);
donsez 0:50670948e4d6 58 else
donsez 0:50670948e4d6 59 statpin.write(LOW);
donsez 0:50670948e4d6 60 }
donsez 0:50670948e4d6 61
donsez 0:50670948e4d6 62
donsez 0:50670948e4d6 63 void stopLeftMotor()
donsez 0:50670948e4d6 64 {
donsez 0:50670948e4d6 65 inLeftApin.write(LOW);
donsez 0:50670948e4d6 66 inLeftBpin.write(LOW);
donsez 0:50670948e4d6 67 pwmLeftpin.write(0.0f);
donsez 0:50670948e4d6 68 }
donsez 0:50670948e4d6 69
donsez 0:50670948e4d6 70 void stopRightMotor()
donsez 0:50670948e4d6 71 {
donsez 0:50670948e4d6 72 inRightApin.write(LOW);
donsez 0:50670948e4d6 73 inRightBpin.write(LOW);
donsez 0:50670948e4d6 74 pwmRightpin.write(0.0f);
donsez 0:50670948e4d6 75 }
donsez 0:50670948e4d6 76
donsez 0:50670948e4d6 77 /*
donsez 0:50670948e4d6 78 set a motor going in a specific direction
donsez 0:50670948e4d6 79 the motor will continue going in that direction, at that speed
donsez 0:50670948e4d6 80 until told to do otherwise.
donsez 0:50670948e4d6 81
donsez 0:50670948e4d6 82 direct: Should be between 0 and 3, with the following result
donsez 0:50670948e4d6 83 0: Brake to VCC
donsez 0:50670948e4d6 84 1: Clockwise
donsez 0:50670948e4d6 85 2: CounterClockwise
donsez 0:50670948e4d6 86 3: Brake to GND
donsez 0:50670948e4d6 87
donsez 0:50670948e4d6 88 BRAKEVCC 0
donsez 0:50670948e4d6 89 CW 1
donsez 0:50670948e4d6 90 CCW 2
donsez 0:50670948e4d6 91 BRAKEGND 3
donsez 0:50670948e4d6 92
donsez 0:50670948e4d6 93 pwm: should be a value between 0.0f and 1.0f, higher the number, the faster it'll go
donsez 0:50670948e4d6 94 */
donsez 0:50670948e4d6 95
donsez 0:50670948e4d6 96 void goLeftMotor(uint8_t direct, float percent)
donsez 0:50670948e4d6 97 {
donsez 0:50670948e4d6 98 if (direct <=4)
donsez 0:50670948e4d6 99 {
donsez 0:50670948e4d6 100 if (direct <=1)
donsez 0:50670948e4d6 101 inLeftApin.write(HIGH);
donsez 0:50670948e4d6 102 else
donsez 0:50670948e4d6 103 inLeftApin.write(LOW);
donsez 0:50670948e4d6 104
donsez 0:50670948e4d6 105 if ((direct==0)||(direct==2))
donsez 0:50670948e4d6 106 inLeftBpin.write(HIGH);
donsez 0:50670948e4d6 107 else
donsez 0:50670948e4d6 108 inLeftBpin.write(LOW);
donsez 0:50670948e4d6 109
donsez 0:50670948e4d6 110 pwmLeftpin.write(percent);
donsez 0:50670948e4d6 111 }
donsez 0:50670948e4d6 112 }
donsez 0:50670948e4d6 113
donsez 0:50670948e4d6 114 void goRightMotor(uint8_t direct, float percent)
donsez 0:50670948e4d6 115 {
donsez 0:50670948e4d6 116 if (direct <=4)
donsez 0:50670948e4d6 117 {
donsez 0:50670948e4d6 118 if (direct <=1)
donsez 0:50670948e4d6 119 inRightApin.write(HIGH);
donsez 0:50670948e4d6 120 else
donsez 0:50670948e4d6 121 inRightApin.write(LOW);
donsez 0:50670948e4d6 122
donsez 0:50670948e4d6 123 if ((direct==0)||(direct==2))
donsez 0:50670948e4d6 124 inRightBpin.write(HIGH);
donsez 0:50670948e4d6 125 else
donsez 0:50670948e4d6 126 inRightBpin.write(LOW);
donsez 0:50670948e4d6 127
donsez 0:50670948e4d6 128 pwmRightpin.write(percent);
donsez 0:50670948e4d6 129 }
donsez 0:50670948e4d6 130 }
donsez 0:50670948e4d6 131
donsez 0:50670948e4d6 132
donsez 0:50670948e4d6 133 void setup()
donsez 0:50670948e4d6 134 {
donsez 0:50670948e4d6 135 setupShield();
donsez 0:50670948e4d6 136 }
donsez 0:50670948e4d6 137
donsez 0:50670948e4d6 138 void loop()
donsez 0:50670948e4d6 139 {
donsez 0:50670948e4d6 140 goLeftMotor(CW, MAXSPEED);
donsez 0:50670948e4d6 141 goRightMotor(CCW, MAXSPEED);
donsez 0:50670948e4d6 142 checkShield();
donsez 0:50670948e4d6 143 wait_ms(5000);
donsez 0:50670948e4d6 144
donsez 0:50670948e4d6 145 stopLeftMotor();
donsez 0:50670948e4d6 146 stopRightMotor();
donsez 0:50670948e4d6 147 checkShield();
donsez 0:50670948e4d6 148 wait_ms(2000);
donsez 0:50670948e4d6 149
donsez 0:50670948e4d6 150 goLeftMotor(CCW, MAXSPEED);
donsez 0:50670948e4d6 151 goRightMotor(CW, MAXSPEED);
donsez 0:50670948e4d6 152 checkShield();
donsez 0:50670948e4d6 153 wait_ms(5000);
donsez 0:50670948e4d6 154
donsez 0:50670948e4d6 155 stopLeftMotor();
donsez 0:50670948e4d6 156 stopRightMotor();
donsez 0:50670948e4d6 157 checkShield();
donsez 0:50670948e4d6 158 wait_ms(2000);
donsez 0:50670948e4d6 159 }
donsez 0:50670948e4d6 160
donsez 0:50670948e4d6 161 int main() {
donsez 0:50670948e4d6 162 setup();
donsez 0:50670948e4d6 163 while(1) {
donsez 0:50670948e4d6 164 loop();
donsez 0:50670948e4d6 165 }
donsez 0:50670948e4d6 166 }
donsez 0:50670948e4d6 167