Revision 2:c1f9f9d74f35, committed 2013-01-26

Comitter:

prabhuvd

Date:

Sat Jan 26 15:00:23 2013 +0000

Parent:

1:b690c5eb9469

Commit message:

LM293D and PWM based drive support added.

Changed in this revision

--- a/motorlib.cpp	Tue Jan 15 13:33:21 2013 +0000
+++ b/motorlib.cpp	Sat Jan 26 15:00:23 2013 +0000
@@ -23,35 +23,82 @@
 #include "motorlib.h"
 #include "mbed.h"
 
-Motor::Motor(PinName r1, PinName r2, PinName r3, PinName r4):
-    _r1(r1), _r2(r2), _r3(r3), _r4(r4) {
+#ifdef LM293D_MOTOR_CTRL
+Motor::Motor(PinName r1, PinName r4, MCtrlType mctype):
+    _r1(r1), _r4(r4),_mctype(mctype)  {
+ 
+    _r1=0 ;_r4=0;
+ 
+}
 
-// Set initial condition for port outputs
-  _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
-
-}
 void Motor::coast(void)
 {
-   _r1=0 ; _r2=1  ;_r3=0;_r4=1;
-   
- 
+  if((_mctype == L293D_DISCRETE) || (_mctype == L293D_PWM)){
+    _r1=1 ;_r4=1;
+  }
 }
+
 void Motor::forward(void)
 {
-   _r1=0 ; _r2=0  ;_r3=1  ;_r4=1;
+  if(_mctype == L293D_PWM){
+    _r1=0 ;
+     for(float p = 0.0f; p < 1.0f; p += 0.1f) {
+        _r4 = p;
+        wait(0.1);
+      }      
+  }else if (_mctype == L293D_DISCRETE) {
+    _r1=0 ;_r4 = 1;
+  }
+
+}
+void Motor::backward(void)
+{
+  if (_mctype == L293D_PWM){
+    _r4=0 ;
+     for(float p = 0.0f; p < 1.0f; p += 0.1f) {
+        _r1 = p;
+        wait(0.1);
+      }      
+  }else if (_mctype == L293D_DISCRETE){
+    _r4=0 ;_r1 =1;
+  } 
+}
+
+void Motor::stop(void)
+{
+  _r1=1; _r4=1; 
+}
+
+#else 
+Motor::Motor(PinName r1, PinName r2, PinName r3, PinName r4, MCtrlType mctype):
+    _r1(r1), _r2(r2), _r3(r3), _r4(r4),_mctype(mctype)  {
+     _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
+}
+
+void Motor::coast(void)
+{
+  _r1=0 ; _r2=1  ;_r3=0;_r4=1;
+}
+
+void Motor::forward(void)
+{   
+  _r1=0 ; _r2=0  ;_r3=1  ;_r4=1;
  
 }
-//  (additions)
+
 void Motor::backward(void)
-{
+{ 
    _r1=1 ; _r2=1  ;_r3=0  ;_r4=0;
 }
 
 void Motor::stop(void)
 {
   _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
+
 }
  
+#endif
+ 
 /*
 //Test code for driving h-Bridge
 // Assume there are two motors connected to a chasis 

--- a/motorlib.h	Tue Jan 15 13:33:21 2013 +0000
+++ b/motorlib.h	Sat Jan 26 15:00:23 2013 +0000
@@ -11,11 +11,20 @@
  
 #include "mbed.h"
  
+#define LM293D_MOTOR_CTRL 
 /** Interface to control a standard DC motor 
 * 
 */
 class Motor {
     public:
+    /** Motor Control Type */
+    enum MCtrlType {
+          L293D_DISCRETE   /**< 0 or 100% duty cycle with  L293D */
+        , L293D_PWM        /**< PWM based voltage control  with L293D */
+        , COMPS_DISCRETE   /**< 0 or 100% duty cycle with transistor circuit*/
+        , COMPS_PWM        /**< PWM based voltage control with transistor circuit*/       
+
+    };    
  
 /** Create a motor control interface    
 *
@@ -23,8 +32,10 @@
 * @param r2 DigitalOut, driving  H-bridge PNP transistor on the TOP right
 * @param r3 DigitalOut, driving  H-bridge NPN transistor on the BOTTOm left.
 * @param r4 DigitalOut, driving  H-bridge PNP transistor on the TOP left
+* @param mctype DigitalOut, driving  H-bridge PNP transistor on the TOP left
 */
-        Motor(PinName r1, PinName r2, PinName r3, PinName r4);
+       Motor(PinName r1, PinName r4,MCtrlType mctype =L293D_PWM);
+       Motor(PinName r1, PinName r2, PinName r3, PinName r4,MCtrlType mctype =L293D_PWM);
   
 /** Set the motor to coast/roll/off
 * 
@@ -57,10 +68,16 @@
         void stop(void);
    
     protected:
+      #ifdef LM293D_MOTOR_CTRL
+        PwmOut _r1;
+        PwmOut _r4;  
+      #else 
         DigitalOut _r1;
         DigitalOut _r2;
         DigitalOut _r3;
-        DigitalOut _r4;
+        DigitalOut _r4;      
+      #endif   
+        MCtrlType _mctype;
  
 };