motor drive libary to use speed control, coasting and dynamic braking. NOTE, dynamic braking my result in large currents. this may or may not set the motor driver on fire/break it/other undesired effects. so read the data sheet folks.
Dependents: motordrivertestprogram Initialmbedrobotprogram mbedrobot ipod ... more
Revision 2:2dc873322032, committed 2010-11-19
- Comitter:
- littlexc
- Date:
- Fri Nov 19 12:32:06 2010 +0000
- Parent:
- 1:3da7302dc9ae
- Child:
- 3:8822f4955035
- Commit message:
- allows more control over the motordriver. returns duty on pmw line
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 |
--- a/motordriver.cpp Thu Nov 11 15:32:55 2010 +0000 +++ b/motordriver.cpp Fri Nov 19 12:32:06 2010 +0000 @@ -46,30 +46,36 @@ sign = 0;//i.e nothing. } -void Motor::speed(float speed) { +float Motor::speed(float speed) { + float temp = 0; if (sign == 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); - _pwm = abs(speed); + temp = abs(speed); + _pwm = temp; } else if (sign == 1) { if (speed < 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = 0; + temp = 0; } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); - _pwm = abs(speed); + temp = abs(speed); + _pwm = temp; } } else if (sign == -1) { if (speed > 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = 0; + temp = 0; } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); - _pwm = abs(speed); + temp = abs(speed); + _pwm = temp; } } if (speed > 0) @@ -79,7 +85,7 @@ } else if (speed == 0) { sign = 0; } - + return temp; } // (additions) void Motor::coast(void) { @@ -89,14 +95,15 @@ sign = 0; } -void Motor::stop(void) { +float Motor::stop(float duty) { if (Brakeable == 1) { _fwd = 1; _rev = 1; - _pwm = 0.5; + _pwm = duty; sign = 0; + return duty; } else - return; + return 0; } /*
--- a/motordriver.h Thu Nov 11 15:32:55 2010 +0000 +++ b/motordriver.h Fri Nov 19 12:32:06 2010 +0000 @@ -42,35 +42,38 @@ * @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) +* @param set if the motor driver is able to do braking 0 false 1 true. */ Motor(PinName pwm, PinName fwd, PinName rev, int brakeable); -/** Set the speed of the motor (addition) +/** Set the speed of the motor * -* @param speed The speed of the motor as a normalised value between -1.0 and 1.0 +* @param speed The speed of the motor as a normalised value between -1.0 and 1.0. +* @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping. */ - void speed(float speed); + float speed(float speed); /** Set the the motor to coast * -* @param void motor coasts until another instruction is recived +* @param void +* @return motor coasts until another instruction is recived. */ void coast(void); -/** Set the motor to dynamicaly brake (addition) +/** Set the motor to dynamicaly brake * -* @param void motor dynamicaly brakes until another instruction is recived +* @param float 0 - 1.0 provides some control over how hard the motor brakes. +* @return duty applied to motor driver. -1 is error, motor driver can't brake. */ - void stop(void); + float stop(float duty); protected: PwmOut _pwm; DigitalOut _fwd; DigitalOut _rev; - int Brakeable; // (addition) + int Brakeable; // cna the motor driver break int sign; //prevents throwing the motor from full foward to full reverse and stuff melting. };