Diff: ArduinoMotorShield.h

Revision:

0:f4e71504732d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ArduinoMotorShield.h	Tue Nov 05 20:28:36 2013 +0000
@@ -0,0 +1,93 @@
+/** Interface to control a stepper motor.
+ * Specially design for Arduino motor shield, which has a L298 H-brigde.
+ *
+ * First version is written by Peter Ilsoe.
+ *
+ * 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 ArduinoMotorShield_H
+#define ArduinoMotorShield_H
+
+#include "mbed.h"
+
+class ArduinoMotorShield
+{
+
+public:
+
+    /** Create a DC/Stepper motor control interface. This class is able to control either DC motor or a Stepper motor.
+     * This is specially designed for the Arduino motor shield board
+     *
+     * @param numberOfSteps The number of steps of the stepper motor used.
+     * @param brakeA A DigitalOut, set high when the motor should brake.
+     * @param brakeB A DigitalOut, set high when the motor should brake.
+     * @param dirA A DigitalOut, set high when the DC motor A should go forward, set low when going backwards. For the stepper motor the logic will control this.
+     * @param dirB A DigitalOut, set high when the DC motor B should go forward, set low when going backwards. For the stepper motor the logic will control this.
+     * @param pvmA A DigitalOut/PVM, Depending on what mode (DC motor or stepper motor) this pin will become PVM(DC motor) or digital output(stepper).
+     * @param pvmB A DigitalOut/PVM, Depending on what mode (DC motor or stepper motor) this pin will become PVM(DC motor) or digital output(stepper).
+     */
+    ArduinoMotorShield(int numberOfSteps, PinName brakeA, PinName brakeB, PinName dirA, PinName dirB, PinName pvmA, PinName pvmB);
+
+    /** Set the speed of a Stepper motor
+     *
+     * @param whatSpeed The speed of the Stepper motor as a RPM
+     */
+    void setStepperSpeed(long whatSpeed);
+
+    /** Move the stepper a number of steps
+     *
+     * @param numberOfSteps The number of steps. If the number is negative,
+     * the motor moves in the reverse direction.
+     */
+    void step(int numberOfSteps);
+
+    /** Run at a specific speed until a startStop becomes false.
+     *
+     * @param startStop If true the stepper motor will run at the specified speed. If false stepper motor will stop
+     */
+    void runStepperAtSpeed(bool startStop, int whatSpeed, int direction);
+    
+    /** Call back member for timer tick
+     *
+     */
+    void runMotor(void);
+
+private:
+    void stepMotor(int this_step);
+
+    int direction; // Direction of rotation
+    int speed; // Speed in RPMs
+    unsigned long step_delay; // delay between steps, in ms, based on speed
+    int number_of_steps; // total number of steps this motor can take
+    int step_number; // which step the motor is on
+    PinName digiPvm; // store the common pin for PVM when DC motor and digital pin when stepper motor
+
+    DigitalOut _BRAKEA;
+    DigitalOut _BRAKEB;
+    DigitalOut _DIRA;
+    DigitalOut _DIRB;
+    DigitalOut _ENA_A;
+    DigitalOut _ENA_B;
+    long last_step_time; // time stamp in ms of when the last step was taken
+
+};
+
+
+#endif