Oskar Lopez de Gamboa / DRV8833

Mbed library to control a motor via DRV8833 H-bridge motor controller. Uses two Pwmouts.

Dependents:   GGHandController

DRV8833.cpp@3:0aa2cdeb2e2b, 2013-12-10 (annotated)

Committer:
xeta05
Date:
Tue Dec 10 11:17:13 2013 +0000
Revision:
3:0aa2cdeb2e2b
Parent:
2:ccc9acaebd38 
docs updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xeta05 3:0aa2cdeb2e2b 1 /*
xeta05 3:0aa2cdeb2e2b 2 * @file DRV8833.h
xeta05 3:0aa2cdeb2e2b 3 * @author Oskar Lopez de Gamboa
xeta05 3:0aa2cdeb2e2b 4 *
xeta05 3:0aa2cdeb2e2b 5 * @section LICENSE
xeta05 3:0aa2cdeb2e2b 6 *
xeta05 3:0aa2cdeb2e2b 7 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
xeta05 3:0aa2cdeb2e2b 8 * and associated documentation files (the "Software"), to deal in the Software without restriction,
xeta05 3:0aa2cdeb2e2b 9 * including without limitation the rights to use, copy, modify, merge, publish, distribute,
xeta05 3:0aa2cdeb2e2b 10 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
xeta05 3:0aa2cdeb2e2b 11 * furnished to do so, subject to the following conditions:
xeta05 3:0aa2cdeb2e2b 12 *
xeta05 3:0aa2cdeb2e2b 13 * The above copyright notice and this permission notice shall be included in all copies or
xeta05 3:0aa2cdeb2e2b 14 * substantial portions of the Software.
xeta05 3:0aa2cdeb2e2b 15 *
xeta05 3:0aa2cdeb2e2b 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
xeta05 3:0aa2cdeb2e2b 17 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
xeta05 3:0aa2cdeb2e2b 18 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
xeta05 3:0aa2cdeb2e2b 19 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
xeta05 3:0aa2cdeb2e2b 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
xeta05 3:0aa2cdeb2e2b 21 *
xeta05 3:0aa2cdeb2e2b 22 * @section DESCRIPTION
xeta05 3:0aa2cdeb2e2b 23 *
xeta05 3:0aa2cdeb2e2b 24 * mbed simple DRV8833 H-bridge motor controller
xeta05 0:80e26be59f41 25 *
xeta05 0:80e26be59f41 26 *
xeta05 0:80e26be59f41 27 * PWM a un puente en H(DRV8833) conectado a los motores.
xeta05 3:0aa2cdeb2e2b 28 * El comportamiento del driver es el siguiente:
xeta05 0:80e26be59f41 29 *
xeta05 0:80e26be59f41 30 * x_PWM1 x_PWM2 Mode
xeta05 0:80e26be59f41 31 * 0 0 Coast/Fast decay
xeta05 0:80e26be59f41 32 * 0 1 Reverse
xeta05 0:80e26be59f41 33 * 1 0 Forward
xeta05 0:80e26be59f41 34 * 1 1 Brake/slow decay
xeta05 3:0aa2cdeb2e2b 35 *10/12/2013
xeta05 3:0aa2cdeb2e2b 36 */
xeta05 0:80e26be59f41 37
xeta05 0:80e26be59f41 38
xeta05 0:80e26be59f41 39 #include "DRV8833.h"
xeta05 0:80e26be59f41 40
xeta05 0:80e26be59f41 41 DRV8833::DRV8833(PinName pwm1, PinName pwm2):
xeta05 0:80e26be59f41 42 _pwm1(pwm1), _pwm2(pwm2)
xeta05 0:80e26be59f41 43 {
xeta05 0:80e26be59f41 44
xeta05 0:80e26be59f41 45 // Set initial condition of PWM
xeta05 0:80e26be59f41 46 _pwm1.period(0.001);
xeta05 0:80e26be59f41 47 _pwm1 = 0;
xeta05 0:80e26be59f41 48 _pwm2.period(0.001);
xeta05 0:80e26be59f41 49 _pwm2 = 0;
xeta05 0:80e26be59f41 50
xeta05 0:80e26be59f41 51 }
xeta05 0:80e26be59f41 52
xeta05 0:80e26be59f41 53 void DRV8833::speed(float speed)
xeta05 0:80e26be59f41 54 {
xeta05 0:80e26be59f41 55 if (speed > 0.0)
xeta05 0:80e26be59f41 56 {
xeta05 0:80e26be59f41 57 _pwm1 = abs(speed);
xeta05 0:80e26be59f41 58 _pwm2 = 0;
xeta05 0:80e26be59f41 59 }
xeta05 0:80e26be59f41 60 else
xeta05 0:80e26be59f41 61 {
xeta05 0:80e26be59f41 62 _pwm1 = 0;
xeta05 0:80e26be59f41 63 _pwm2 = abs(speed);
xeta05 0:80e26be59f41 64 }
xeta05 0:80e26be59f41 65 }
xeta05 0:80e26be59f41 66 void DRV8833::period(float period){
xeta05 0:80e26be59f41 67
xeta05 0:80e26be59f41 68 _pwm1.period(period);
xeta05 0:80e26be59f41 69 _pwm2.period(period);
xeta05 0:80e26be59f41 70 }
xeta05 0:80e26be59f41 71
xeta05 2:ccc9acaebd38 72 void DRV8833::brake(int mode){
xeta05 0:80e26be59f41 73
xeta05 2:ccc9acaebd38 74 if(mode == COAST)
xeta05 0:80e26be59f41 75 {
xeta05 0:80e26be59f41 76 _pwm1 = 0;
xeta05 0:80e26be59f41 77 _pwm2 = 0;
xeta05 0:80e26be59f41 78 }
xeta05 2:ccc9acaebd38 79 else if(mode == BRAKE)
xeta05 2:ccc9acaebd38 80 {
xeta05 0:80e26be59f41 81 _pwm1 = 1;
xeta05 0:80e26be59f41 82 _pwm2 = 1;
xeta05 0:80e26be59f41 83 }
xeta05 0:80e26be59f41 84
xeta05 0:80e26be59f41 85 }