Yasuhiko YAMAMOTO
Based on PS3_BlueUSB with reference to http://blog.goo.ne.jp/roboz80/e/10e7bf38d3a63b996ca2894e9fb5e3b6
motordriver.h@0:44619612f575, 2011-07-05 (annotated)
- Committer:
- kenbumono
- Date:
- Tue Jul 05 08:25:40 2011 +0000
- Revision:
- 0:44619612f575
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| kenbumono | 0:44619612f575 | 1 | /*motor driver libary modified from the following libary, |
| kenbumono | 0:44619612f575 | 2 | * |
| kenbumono | 0:44619612f575 | 3 | * mbed simple H-bridge motor controller |
| kenbumono | 0:44619612f575 | 4 | * Copyright (c) 2007-2010, sford |
| kenbumono | 0:44619612f575 | 5 | * |
| kenbumono | 0:44619612f575 | 6 | * by Christopher Hasler. |
| kenbumono | 0:44619612f575 | 7 | * |
| kenbumono | 0:44619612f575 | 8 | * from sford's libary, |
| kenbumono | 0:44619612f575 | 9 | * |
| kenbumono | 0:44619612f575 | 10 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| kenbumono | 0:44619612f575 | 11 | * of this software and associated documentation files (the "Software"), to deal |
| kenbumono | 0:44619612f575 | 12 | * in the Software without restriction, including without limitation the rights |
| kenbumono | 0:44619612f575 | 13 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| kenbumono | 0:44619612f575 | 14 | * copies of the Software, and to permit persons to whom the Software is |
| kenbumono | 0:44619612f575 | 15 | * furnished to do so, subject to the following conditions: |
| kenbumono | 0:44619612f575 | 16 | * |
| kenbumono | 0:44619612f575 | 17 | * The above copyright notice and this permission notice shall be included in |
| kenbumono | 0:44619612f575 | 18 | * all copies or substantial portions of the Software. |
| kenbumono | 0:44619612f575 | 19 | * |
| kenbumono | 0:44619612f575 | 20 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| kenbumono | 0:44619612f575 | 21 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| kenbumono | 0:44619612f575 | 22 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| kenbumono | 0:44619612f575 | 23 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| kenbumono | 0:44619612f575 | 24 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| kenbumono | 0:44619612f575 | 25 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| kenbumono | 0:44619612f575 | 26 | * THE SOFTWARE. |
| kenbumono | 0:44619612f575 | 27 | */ |
| kenbumono | 0:44619612f575 | 28 | |
| kenbumono | 0:44619612f575 | 29 | #ifndef MBED_MOTOR_H |
| kenbumono | 0:44619612f575 | 30 | #define MBED_MOTOR_H |
| kenbumono | 0:44619612f575 | 31 | |
| kenbumono | 0:44619612f575 | 32 | #include "mbed.h" |
| kenbumono | 0:44619612f575 | 33 | |
| kenbumono | 0:44619612f575 | 34 | /** Interface to control a standard DC motor |
| kenbumono | 0:44619612f575 | 35 | * with an H-bridge using a PwmOut and 2 DigitalOuts |
| kenbumono | 0:44619612f575 | 36 | */ |
| kenbumono | 0:44619612f575 | 37 | class Motor { |
| kenbumono | 0:44619612f575 | 38 | public: |
| kenbumono | 0:44619612f575 | 39 | |
| kenbumono | 0:44619612f575 | 40 | /** Create a motor control interface |
| kenbumono | 0:44619612f575 | 41 | * |
| kenbumono | 0:44619612f575 | 42 | * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed |
| kenbumono | 0:44619612f575 | 43 | * @param fwd A DigitalOut, set high when the motor should go forward |
| kenbumono | 0:44619612f575 | 44 | * @param rev A DigitalOut, set high when the motor should go backwards |
| kenbumono | 0:44619612f575 | 45 | * @param set if the motor driver is able to do braking 0 false 1 true. |
| kenbumono | 0:44619612f575 | 46 | */ |
| kenbumono | 0:44619612f575 | 47 | Motor(PinName pwm, PinName fwd, PinName rev, bool brakeable = false); |
| kenbumono | 0:44619612f575 | 48 | |
| kenbumono | 0:44619612f575 | 49 | /** Set the speed of the motor |
| kenbumono | 0:44619612f575 | 50 | * |
| kenbumono | 0:44619612f575 | 51 | * @param speed The speed of the motor as a normalised value between -1.0 and 1.0. |
| kenbumono | 0:44619612f575 | 52 | * @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping. |
| kenbumono | 0:44619612f575 | 53 | */ |
| kenbumono | 0:44619612f575 | 54 | float speed(float speed); |
| kenbumono | 0:44619612f575 | 55 | |
| kenbumono | 0:44619612f575 | 56 | /** Set the the motor to coast |
| kenbumono | 0:44619612f575 | 57 | * |
| kenbumono | 0:44619612f575 | 58 | * @param void |
| kenbumono | 0:44619612f575 | 59 | * @return motor coasts until another instruction is recived. |
| kenbumono | 0:44619612f575 | 60 | */ |
| kenbumono | 0:44619612f575 | 61 | |
| kenbumono | 0:44619612f575 | 62 | void coast(void); |
| kenbumono | 0:44619612f575 | 63 | |
| kenbumono | 0:44619612f575 | 64 | /** Set the motor to dynamicaly brake |
| kenbumono | 0:44619612f575 | 65 | * |
| kenbumono | 0:44619612f575 | 66 | * @param float 0 - 1.0 provides some control over how hard the motor brakes. |
| kenbumono | 0:44619612f575 | 67 | * @return duty applied to motor driver. -1 is error, motor driver can't brake. |
| kenbumono | 0:44619612f575 | 68 | */ |
| kenbumono | 0:44619612f575 | 69 | |
| kenbumono | 0:44619612f575 | 70 | float stop(float duty); |
| kenbumono | 0:44619612f575 | 71 | /** return the current state of the motor |
| kenbumono | 0:44619612f575 | 72 | * |
| kenbumono | 0:44619612f575 | 73 | * @param void |
| kenbumono | 0:44619612f575 | 74 | * @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. |
| kenbumono | 0:44619612f575 | 75 | */ |
| kenbumono | 0:44619612f575 | 76 | float state(void) const; |
| kenbumono | 0:44619612f575 | 77 | |
| kenbumono | 0:44619612f575 | 78 | protected: |
| kenbumono | 0:44619612f575 | 79 | mutable PwmOut _pwm; |
| kenbumono | 0:44619612f575 | 80 | mutable DigitalOut _fwd; |
| kenbumono | 0:44619612f575 | 81 | mutable DigitalOut _rev; |
| kenbumono | 0:44619612f575 | 82 | bool _brakeable; // cna the motor driver break |
| kenbumono | 0:44619612f575 | 83 | int _sign; //prevents throwing the motor from full foward to full reverse and stuff melting. |
| kenbumono | 0:44619612f575 | 84 | |
| kenbumono | 0:44619612f575 | 85 | }; |
| kenbumono | 0:44619612f575 | 86 | |
| kenbumono | 0:44619612f575 | 87 | |
| kenbumono | 0:44619612f575 | 88 | |
| kenbumono | 0:44619612f575 | 89 | |
| kenbumono | 0:44619612f575 | 90 | |
| kenbumono | 0:44619612f575 | 91 | #endif |