Narendra Joshi / Motor

Control an H-Bridge using a PwmOut (enable) and two DigitalOuts (direction select). (forked from simon/Motor and changed according to our needs)

Dependents:   robots

Fork of Motor by Simon Ford

Motor.cpp@3:118c5f0675da, 2013-10-27 (annotated)

Committer:
narendraj9
Date:
Sun Oct 27 09:15:12 2013 +0000
Revision:
3:118c5f0675da
Parent:
2:f265e441bcd9 
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simon 0:a470311addc4 1 /* mbed simple H-bridge motor controller
simon 2:f265e441bcd9 2 * Copyright (c) 2007-2010, sford, http://mbed.org
simon 0:a470311addc4 3 *
simon 0:a470311addc4 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
simon 0:a470311addc4 5 * of this software and associated documentation files (the "Software"), to deal
simon 0:a470311addc4 6 * in the Software without restriction, including without limitation the rights
simon 0:a470311addc4 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
simon 0:a470311addc4 8 * copies of the Software, and to permit persons to whom the Software is
simon 0:a470311addc4 9 * furnished to do so, subject to the following conditions:
simon 0:a470311addc4 10 *
simon 0:a470311addc4 11 * The above copyright notice and this permission notice shall be included in
simon 0:a470311addc4 12 * all copies or substantial portions of the Software.
simon 0:a470311addc4 13 *
simon 0:a470311addc4 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
simon 0:a470311addc4 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
simon 0:a470311addc4 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
simon 0:a470311addc4 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
simon 0:a470311addc4 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
simon 0:a470311addc4 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
simon 0:a470311addc4 20 * THE SOFTWARE.
simon 0:a470311addc4 21 */
simon 0:a470311addc4 22
simon 0:a470311addc4 23 #include "Motor.h"
simon 0:a470311addc4 24
simon 0:a470311addc4 25 #include "mbed.h"
simon 0:a470311addc4 26
narendraj9 3:118c5f0675da 27 Motor::Motor(PinName en, PinName fwd, PinName rev):
narendraj9 3:118c5f0675da 28 _en(en), _fwd(fwd), _rev(rev) {
simon 0:a470311addc4 29
narendraj9 3:118c5f0675da 30 // Set initial condition for the enable pin
narendraj9 3:118c5f0675da 31 _en = 0;
narendraj9 3:118c5f0675da 32
simon 0:a470311addc4 33 // Initial condition of output enables
simon 0:a470311addc4 34 _fwd = 0;
simon 0:a470311addc4 35 _rev = 0;
simon 0:a470311addc4 36 }
simon 0:a470311addc4 37
narendraj9 3:118c5f0675da 38 // direct the motor in a specific direction or stop it
narendraj9 3:118c5f0675da 39 void Motor::direct(int dir) {
narendraj9 3:118c5f0675da 40 _fwd = (dir > 0);
narendraj9 3:118c5f0675da 41 _rev = (dir < 0);
narendraj9 3:118c5f0675da 42 _en = !(dir == 0);
simon 0:a470311addc4 43 }
simon 0:a470311addc4 44
narendraj9 3:118c5f0675da 45 /* emulate pwm for a specified time interval */
narendraj9 3:118c5f0675da 46 void Motor::speed(float timeval, float speed) {
narendraj9 3:118c5f0675da 47 float wait_time = 1/(speed * 10);
narendraj9 3:118c5f0675da 48 for (int i = 0; i < timeval; i += 0.1 ) {
narendraj9 3:118c5f0675da 49 _en = 0;
narendraj9 3:118c5f0675da 50 wait(wait_time/2);
narendraj9 3:118c5f0675da 51 _en = 1;
narendraj9 3:118c5f0675da 52 wait(wait_time);
narendraj9 3:118c5f0675da 53 }
simon 0:a470311addc4 54
narendraj9 3:118c5f0675da 55 }
simon 0:a470311addc4 56
narendraj9 3:118c5f0675da 57 mState Motor::getState()
narendraj9 3:118c5f0675da 58 {
narendraj9 3:118c5f0675da 59 mState temp = { _en, _fwd, _rev };
narendraj9 3:118c5f0675da 60 return temp;
narendraj9 3:118c5f0675da 61 }
narendraj9 3:118c5f0675da 62
narendraj9 3:118c5f0675da 63 void Motor::setState(mState pinState)
narendraj9 3:118c5f0675da 64 {
narendraj9 3:118c5f0675da 65 _en = pinState.en;
narendraj9 3:118c5f0675da 66 _fwd = pinState.fwd;
narendraj9 3:118c5f0675da 67 _rev = pinState.rev;
narendraj9 3:118c5f0675da 68 }
narendraj9 3:118c5f0675da 69