Revision 6:70f4fa29f10e, committed 2013-09-01

Comitter:

suupen

Date:

Sun Sep 01 10:17:10 2013 +0000

Parent:

5:3110b9209d3c

Commit message:

BD6211 motor driver ?FIN,RIN???PWM?????????????Library
; 130901?????

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6211_motordriver.cpp	Sun Sep 01 10:17:10 2013 +0000
@@ -0,0 +1,207 @@
+/*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 "BD6211_motordriver.h"
+
+#include "mbed.h"
+
+//Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable):
+//        _pwm(pwm), _fwd(fwd), _rev(rev) {
+Motor::Motor(PinName fwd, PinName rev, int brakeable):
+    _pwmfwd(fwd), _pwmrev(rev)
+{
+
+    // Set initial condition of PWM
+    //_pwm.period(0.001);
+    //_pwm = 0;
+    _pwmfwd.period(0.0001);
+    _pwmfwd = 0;
+    
+    _pwmrev.period(0.0001);
+    _pwmrev = 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.
+}
+
+float Motor::speed(float speed)
+{
+    float temp = 0;
+    if (sign == 0) {
+//        _fwd = (speed > 0.0);
+//        _rev = (speed < 0.0);
+//       temp = abs(speed);
+//        _pwm = temp;
+        temp = abs(speed);
+        if(speed > 0.0) {
+            _pwmfwd = temp;
+            _pwmrev = 0;
+        } else if(speed < 0.0) {
+            _pwmfwd = 0;
+            _pwmrev = temp;
+        } else {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        }
+    } 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);
+//            temp = abs(speed);
+//            _pwm = temp;
+        temp = abs(speed);
+        if(speed > 0.0) {
+            _pwmfwd = temp;
+            _pwmrev = 0;
+        } else if(speed < 0.0) {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        } else {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        }
+
+    } 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);
+//        temp = abs(speed);
+//        _pwm = temp;
+//    }
+        temp = abs(speed);
+        if(speed > 0.0) {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        } else if(speed < 0.0) {
+            _pwmfwd = 0;
+            _pwmrev = temp;
+        } else {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        }
+    }
+    if (speed > 0)
+        sign = 1;
+    else if (speed < 0) {
+        sign = -1;
+    } else if (speed == 0) {
+        sign = 0;
+    }
+    return temp;
+}
+//  (additions)
+void Motor::coast(void)
+{
+//    _fwd = 0;
+//    _rev = 0;
+//    _pwm = 0;
+//    sign = 0;
+    _pwmfwd = 0;
+    _pwmrev = 0;
+    sign = 0;
+}
+
+float Motor::stop(float duty)
+{
+    if (Brakeable == 1) {
+//        _fwd = 1;
+//        _rev = 1;
+//        _pwm = duty;
+//        sign = 0;
+//        return duty;
+        _pwmfwd = 1;
+        _pwmrev = 1;
+        sign = 0;
+        return duty;
+    } else
+        Motor::coast();
+    return -1;
+}
+
+float Motor::state(void)
+{
+//    if ((_fwd == _rev) && (_pwm > 0)) {
+//        return -2;//braking
+//    } else if (_pwm == 0) {
+//        return 2;//coasting
+//    } else if ((_fwd == 0) && (_rev == 1)) {
+//        return -(_pwm);//reversing
+//    }  else if ((_fwd == 1) && (_rev == 0)) {
+//        return _pwm;//fowards
+//    } else
+//        return -3;//error
+    if ((_pwmfwd == _pwmrev) && (_pwmfwd > 0)) {
+        return -2;//braking
+    } else if ((_pwmfwd == 0) && (_pwmrev == 0)) {
+        return 2;//coasting
+    } else if ((_pwmfwd == 0) && (_pwmrev != 0)) {
+        return -(_pwmrev);//reversing
+    }  else if ((_pwmfwd != 0) && (_pwmrev == 0)) {
+        return _pwmfwd;//fowards
+    } else
+        return -3;//error
+}
+
+/*
+ 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();
+}
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6211_motordriver.h	Sun Sep 01 10:17:10 2013 +0000
@@ -0,0 +1,91 @@
+/*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.
+*/
+ 
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+ 
+#include "mbed.h"
+ 
+/** Interface to control a standard DC motor 
+* with an H-bridge using a PwmOut and 2 DigitalOuts
+*/
+class Motor {
+    public:
+ 
+/** Create a motor control interface    
+*
+* @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.
+*/
+        //Motor(PinName pwm, PinName fwd, PinName rev, int brakeable);
+        Motor(PinName fwd, PinName rev, int breakeable);
+/** Set the speed of the motor 
+* 
+* @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.
+*/
+        float speed(float speed);
+        
+/** Set the the motor to coast
+* 
+* @param void 
+* @return motor coasts until another instruction is recived.
+*/        
+  
+        void coast(void);
+
+/** Set the motor to dynamicaly brake
+* 
+* @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.
+*/
+
+        float stop(float duty);
+/** return the current state of the motor
+*
+* @param void
+* @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. 
+*/
+        float state(void);
+        
+    protected:
+        //PwmOut _pwm;
+        PwmOut _pwmfwd;    //DigitalOut _fwd;
+        PwmOut _pwmrev;    //DigitalOut _rev;
+        int Brakeable; // cna the motor driver break
+        int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
+ 
+};
+
+
+
+
+
+#endif

--- a/motordriver.cpp	Thu Nov 25 13:34:15 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,140 +0,0 @@
-/*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 "motordriver.h"
-
-#include "mbed.h"
-
-Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable):
-        _pwm(pwm), _fwd(fwd), _rev(rev) {
-
-    // 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.
-}
-
-float Motor::speed(float speed) {
-    float temp = 0;
-    if (sign == 0) {
-        _fwd = (speed > 0.0);
-        _rev = (speed < 0.0);
-        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);
-            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);
-            temp = abs(speed);
-            _pwm = temp;
-        }
-    }
-    if (speed > 0)
-        sign = 1;
-    else if (speed < 0) {
-        sign = -1;
-    } else if (speed == 0) {
-        sign = 0;
-    }
-    return temp;
-}
-//  (additions)
-void Motor::coast(void) {
-    _fwd = 0;
-    _rev = 0;
-    _pwm = 0;
-    sign = 0;
-}
-
-float Motor::stop(float duty) {
-    if (Brakeable == 1) {
-        _fwd = 1;
-        _rev = 1;
-        _pwm = duty;
-        sign = 0;
-        return duty;
-    } else
-        Motor::coast();
-        return -1;
-}
-
-float Motor::state(void) {
-    if ((_fwd == _rev) && (_pwm > 0)) {
-        return -2;//braking
-    } else if (_pwm == 0) {
-        return 2;//coasting
-    } else if ((_fwd == 0) && (_rev == 1)) {
-        return -(_pwm);//reversing
-    }  else if ((_fwd == 1) && (_rev == 0)) {
-        return _pwm;//fowards
-    } else
-        return -3;//error
-}
-
-/*
- 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();
-}
-*/
\ No newline at end of file

--- a/motordriver.h	Thu Nov 25 13:34:15 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,91 +0,0 @@
-/*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.
-*/
- 
-#ifndef MBED_MOTOR_H
-#define MBED_MOTOR_H
- 
-#include "mbed.h"
- 
-/** Interface to control a standard DC motor 
-* with an H-bridge using a PwmOut and 2 DigitalOuts
-*/
-class Motor {
-    public:
- 
-/** Create a motor control interface    
-*
-* @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.
-*/
-        Motor(PinName pwm, PinName fwd, PinName rev, int brakeable);
-  
-/** Set the speed of the motor 
-* 
-* @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.
-*/
-        float speed(float speed);
-        
-/** Set the the motor to coast
-* 
-* @param void 
-* @return motor coasts until another instruction is recived.
-*/        
-  
-        void coast(void);
-
-/** Set the motor to dynamicaly brake
-* 
-* @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.
-*/
-
-        float stop(float duty);
-/** return the current state of the motor
-*
-* @param void
-* @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. 
-*/
-        float state(void);
-        
-    protected:
-        PwmOut _pwm;
-        DigitalOut _fwd;
-        DigitalOut _rev;
-        int Brakeable; // cna the motor driver break
-        int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
- 
-};
-
-
-
-
-
-#endif