AKM Development Platform / AP1017

Motor driver library for the AP1017.

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AKM Development Platform

AP1017 Motor Driver

Import libraryAP1017

Motor driver library for the AP1017.

Last commit 02 May 2018 by AKM Development Platform

AP1017.cpp@5:2da4339149a6, 2017-04-21 (annotated)

Committer:
tkstreet
Date:
Fri Apr 21 20:43:25 2017 +0000
Revision:
5:2da4339149a6
Parent:
4:c36159701cde
Child:
6:d4d3bc82d446
Fixed incorrect pin assignments.  Enable pin set to P0_10, but is not working since Enable is connected to RSV.  This needs to be fixed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 0:a0435a630c5d 1 #include "AP1017.h"
tkstreet 4:c36159701cde 2 #include "debug.h"
tkstreet 0:a0435a630c5d 3
tkstreet 0:a0435a630c5d 4 /******************** Constructors & Destructors ****************************/
tkstreet 0:a0435a630c5d 5
tkstreet 0:a0435a630c5d 6 // Default constructor
tkstreet 3:f8e70f639ed0 7 AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0)
tkstreet 0:a0435a630c5d 8 {
tkstreet 3:f8e70f639ed0 9 motor = new PwmOut(P0_10);
tkstreet 3:f8e70f639ed0 10 inA = new DigitalOut(P0_11);
tkstreet 5:2da4339149a6 11 inB = new DigitalOut(P0_9);
tkstreet 0:a0435a630c5d 12 }
tkstreet 0:a0435a630c5d 13
tkstreet 0:a0435a630c5d 14 // Default destructor
tkstreet 0:a0435a630c5d 15 AP1017::~AP1017(void)
tkstreet 0:a0435a630c5d 16 {
tkstreet 3:f8e70f639ed0 17 stop();
tkstreet 1:4d4c77589134 18 delete inA, inB, motor;
tkstreet 0:a0435a630c5d 19 }
tkstreet 0:a0435a630c5d 20
tkstreet 0:a0435a630c5d 21 /*********************** Member Functions ***********************************/
tkstreet 0:a0435a630c5d 22
tkstreet 4:c36159701cde 23 AP1017::Status AP1017::setDirection(AP1017::Rotation dir)
tkstreet 0:a0435a630c5d 24 {
tkstreet 3:f8e70f639ed0 25 direction = dir;
tkstreet 4:c36159701cde 26
tkstreet 3:f8e70f639ed0 27 switch(direction){
tkstreet 4:c36159701cde 28 case DIRECTION_CW: // direction = 0x00
tkstreet 4:c36159701cde 29 if(isMotorOn())
tkstreet 4:c36159701cde 30 {
tkstreet 4:c36159701cde 31 MSG("#AP1017.cpp: Error. Cannot change direction while motor is running.\r\n");
tkstreet 0:a0435a630c5d 32 return ERROR_MOTORON;
tkstreet 4:c36159701cde 33 }else
tkstreet 4:c36159701cde 34 {
tkstreet 4:c36159701cde 35 inA->write(1);
tkstreet 4:c36159701cde 36 inB->write(0);
tkstreet 4:c36159701cde 37 MSG("#AP1017.cpp: Direction: CCW\r\n");
tkstreet 4:c36159701cde 38 }
tkstreet 0:a0435a630c5d 39 break;
tkstreet 4:c36159701cde 40 case DIRECTION_CCW: // direction = 0x01
tkstreet 4:c36159701cde 41 if(isMotorOn())
tkstreet 4:c36159701cde 42 {
tkstreet 4:c36159701cde 43 MSG("#AP1017.cpp: Error. Cannot change direction while motor is running.\r\n");
tkstreet 0:a0435a630c5d 44 return ERROR_MOTORON;
tkstreet 4:c36159701cde 45 }else
tkstreet 4:c36159701cde 46 {
tkstreet 4:c36159701cde 47 inA->write(0);
tkstreet 4:c36159701cde 48 inB->write(1);
tkstreet 4:c36159701cde 49 MSG("#AP1017.cpp: Direction: CW\r\n");
tkstreet 4:c36159701cde 50 }
tkstreet 0:a0435a630c5d 51 break;
tkstreet 4:c36159701cde 52 case DIRECTION_BRAKE: // direction = 0x03
tkstreet 1:4d4c77589134 53 inA->write(1);
tkstreet 1:4d4c77589134 54 inB->write(1);
tkstreet 4:c36159701cde 55 MSG("#AP1017.cpp: Direction: Brake\r\n");
tkstreet 0:a0435a630c5d 56 break;
tkstreet 4:c36159701cde 57 case DIRECTION_COAST: // direction = 0x04
tkstreet 1:4d4c77589134 58 inA->write(0);
tkstreet 1:4d4c77589134 59 inB->write(0);
tkstreet 0:a0435a630c5d 60 motorOn = false;
tkstreet 4:c36159701cde 61 MSG("#AP1017.cpp: Direction: Coast\r\n");
tkstreet 0:a0435a630c5d 62 break;
tkstreet 0:a0435a630c5d 63 default:
tkstreet 0:a0435a630c5d 64 return ERROR_DIRECTION;
tkstreet 0:a0435a630c5d 65 }
tkstreet 0:a0435a630c5d 66
tkstreet 0:a0435a630c5d 67 return SUCCESS;
tkstreet 0:a0435a630c5d 68 }
tkstreet 0:a0435a630c5d 69
tkstreet 3:f8e70f639ed0 70
tkstreet 3:f8e70f639ed0 71 AP1017::Rotation AP1017::getDirection(void)
tkstreet 0:a0435a630c5d 72 {
tkstreet 3:f8e70f639ed0 73 return direction;
tkstreet 3:f8e70f639ed0 74 }
tkstreet 3:f8e70f639ed0 75
tkstreet 0:a0435a630c5d 76
tkstreet 3:f8e70f639ed0 77 AP1017::Status AP1017::setSpeed(float dc)
tkstreet 3:f8e70f639ed0 78 {
tkstreet 4:c36159701cde 79 if((dc <= 100.0) && (dc >= 0.0)){
tkstreet 3:f8e70f639ed0 80 dutyCycle = dc/100.0;
tkstreet 4:c36159701cde 81 MSG("#AP1017.cpp: dutyCycle = %.1f%%\r\n", dc);
tkstreet 0:a0435a630c5d 82
tkstreet 0:a0435a630c5d 83 if(motorOn == true){
tkstreet 1:4d4c77589134 84 motor->write(dutyCycle); // If motor is on, keep it on
tkstreet 4:c36159701cde 85 MSG("#AP1017.cpp: Changed running motor speed.\r\n");
tkstreet 0:a0435a630c5d 86 }
tkstreet 0:a0435a630c5d 87 }
tkstreet 0:a0435a630c5d 88 else{
tkstreet 0:a0435a630c5d 89 dutyCycle = 0.0;
tkstreet 0:a0435a630c5d 90
tkstreet 0:a0435a630c5d 91 return ERROR_DUTY_CYCLE;
tkstreet 0:a0435a630c5d 92 }
tkstreet 0:a0435a630c5d 93
tkstreet 0:a0435a630c5d 94 return SUCCESS;
tkstreet 0:a0435a630c5d 95 }
tkstreet 0:a0435a630c5d 96
tkstreet 0:a0435a630c5d 97
tkstreet 3:f8e70f639ed0 98 float AP1017::getSpeed(void)
tkstreet 0:a0435a630c5d 99 {
tkstreet 4:c36159701cde 100 MSG("#AP1017.cpp: Speed = %.1f%%\r\n", dutyCycle);
tkstreet 3:f8e70f639ed0 101 return dutyCycle*100.0;
tkstreet 0:a0435a630c5d 102 }
tkstreet 0:a0435a630c5d 103
tkstreet 0:a0435a630c5d 104
tkstreet 3:f8e70f639ed0 105 AP1017::Status AP1017::start(void)
tkstreet 0:a0435a630c5d 106 {
tkstreet 3:f8e70f639ed0 107 motor->write(dutyCycle); // Set duty cycle, start motor
tkstreet 4:c36159701cde 108 MSG("#AP1017.cpp: Motor: ON\r\n");
tkstreet 0:a0435a630c5d 109 motorOn = true; // Set ON flag
tkstreet 0:a0435a630c5d 110
tkstreet 0:a0435a630c5d 111 return SUCCESS;
tkstreet 0:a0435a630c5d 112 }
tkstreet 0:a0435a630c5d 113
tkstreet 0:a0435a630c5d 114
tkstreet 3:f8e70f639ed0 115 AP1017::Status AP1017::stop(void)
tkstreet 0:a0435a630c5d 116 {
tkstreet 3:f8e70f639ed0 117 motor->write(0.0); // turn motor off (duty cycle saved)
tkstreet 4:c36159701cde 118 MSG("#AP1017.cpp: Motor: OFF\r\n");
tkstreet 0:a0435a630c5d 119 motorOn = false; // Set OFF flag
tkstreet 0:a0435a630c5d 120
tkstreet 0:a0435a630c5d 121 return SUCCESS;
tkstreet 0:a0435a630c5d 122 }
tkstreet 0:a0435a630c5d 123
tkstreet 3:f8e70f639ed0 124 AP1017::Status AP1017::brake(void)
tkstreet 0:a0435a630c5d 125 {
tkstreet 0:a0435a630c5d 126 setDirection(DIRECTION_BRAKE);
tkstreet 4:c36159701cde 127 MSG("#AP1017.cpp: Motor: BRAKE\r\n");
tkstreet 0:a0435a630c5d 128 return SUCCESS;
tkstreet 0:a0435a630c5d 129 }
tkstreet 0:a0435a630c5d 130
tkstreet 3:f8e70f639ed0 131 AP1017::Status AP1017::coast(void)
tkstreet 0:a0435a630c5d 132 {
tkstreet 0:a0435a630c5d 133 setDirection(DIRECTION_COAST);
tkstreet 4:c36159701cde 134 MSG("#AP1017.cpp: Motor: COAST\r\n");
tkstreet 0:a0435a630c5d 135 return SUCCESS;
tkstreet 4:c36159701cde 136 }
tkstreet 4:c36159701cde 137
tkstreet 4:c36159701cde 138 bool AP1017::isMotorOn(void)
tkstreet 4:c36159701cde 139 {
tkstreet 4:c36159701cde 140 return motorOn;
tkstreet 0:a0435a630c5d 141 }