File content as of revision 1:3ece560dd2da:
/*motor driver libary modified from the following libary,
*
* mbed simple H-bridge motor controller
* Copyright (c) 2007-2010, sford
*
* by Christopher Hasler.
*
* from sford's libary,
*
* 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.
*/
#include "motordrivercs.h"
#include "mbed.h"
Motor::Motor(PinName pwm, PinName fwd, PinName rev, PinName ain, float ohms, float limit, float cutby, int brakeable):
_pwm(pwm), _fwd(fwd), _rev(rev), _ain(ain) {
// Set initial condition of PWM
_pwm.period(0.001);
_pwm = 0;
// Initial condition of output enables
_fwd = 0;
_rev = 0;
//set if the motor dirver is capable of braking. (addition)
Brakeable= brakeable;
sign = 0;//i.e nothing.
currentlimit = limit;
modifyspeed = cutby;
}
float Motor::speedcs(float speed) {
float temp = 0;
if (sign == 0) {
_fwd = (speed > 0.0);
_rev = (speed < 0.0);
_pwm = abs(speed);
temp = current();
if (temp > currentlimit) {
temp = abs(speed) / modifyspeed;
_pwm = temp;
} else
temp = abs(speed);
} 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 = current();
if (temp > currentlimit) {
temp = abs(speed) / modifyspeed;
_pwm = temp;
} else
temp = abs(speed);
}
} 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 = current();
if (temp > currentlimit) {
temp = abs(speed) / modifyspeed;
_pwm = temp;
} else
temp = abs(speed);
}
}
if (speed > 0)
sign = 1;
else if (speed < 0) {
sign = -1;
} else if (speed == 0) {
sign = 0;
}
return temp;
}
// (additions)
void Motor::coastcs(void) {
_fwd = 0;
_rev = 0;
_pwm = 0;
sign = 0;
}
float Motor::stopcs(float duty) {
float temp = 0;
if (Brakeable == 1) {
_fwd = 1;
_rev = 1;
_pwm = duty;
sign = 0;
temp = current();
if (temp > currentlimit)
temp = duty / modifyspeed;
_pwm = temp;
} else
return current();
return temp;
}
float Motor::current(void) {
float temp;
temp = _ain.read();
temp = temp * 0.303;// = 1/3.3, gives volts
temp = temp / ohms;//V=IR V/R = I
return temp;
}
/*
test code, this demonstrates working motor drivers.
Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break
Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break
int main() {
for (float s=-1.0; s < 1.0 ; s += 0.01) {
A.speed(s);
B.speed(s);
wait(0.02);
}
A.stop();
B.stop();
wait(1);
A.coast();
B.coast();
}
*/