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@1:4d4c77589134, 2017-04-17 (annotated)

Committer:
tkstreet
Date:
Mon Apr 17 19:08:36 2017 +0000
Revision:
1:4d4c77589134
Parent:
0:a0435a630c5d
Child:
3:f8e70f639ed0
Changed private member types, modified constructor.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 0:a0435a630c5d 1 #include "AP1017.h"
tkstreet 0:a0435a630c5d 2
tkstreet 0:a0435a630c5d 3 /******************** Constructors & Destructors ****************************/
tkstreet 0:a0435a630c5d 4
tkstreet 0:a0435a630c5d 5 // Default constructor
tkstreet 1:4d4c77589134 6 AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0), freq_hz(0.0),
tkstreet 1:4d4c77589134 7 pulseWidth_us(0.0), pwmPeriod_us(0.0)
tkstreet 0:a0435a630c5d 8 {
tkstreet 1:4d4c77589134 9 motor = NULL;
tkstreet 1:4d4c77589134 10 inA = NULL;
tkstreet 1:4d4c77589134 11 inB = NULL;
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 0:a0435a630c5d 17 stopMotor();
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 0:a0435a630c5d 23 AP1017::Status AP1017::setDirection(char dir)
tkstreet 0:a0435a630c5d 24 {
tkstreet 0:a0435a630c5d 25
tkstreet 0:a0435a630c5d 26 switch(dir){
tkstreet 0:a0435a630c5d 27 case DIRECTION_CW:
tkstreet 0:a0435a630c5d 28 if(motorOn == true && dir == DIRECTION_CCW)
tkstreet 0:a0435a630c5d 29 return ERROR_MOTORON;
tkstreet 1:4d4c77589134 30 inA->write(1);
tkstreet 1:4d4c77589134 31 inB->write(0);
tkstreet 0:a0435a630c5d 32 motorOn = true;
tkstreet 0:a0435a630c5d 33 break;
tkstreet 0:a0435a630c5d 34 case DIRECTION_CCW:
tkstreet 0:a0435a630c5d 35 if(motorOn == true && dir == DIRECTION_CW)
tkstreet 0:a0435a630c5d 36 return ERROR_MOTORON;
tkstreet 1:4d4c77589134 37 inA->write(0);
tkstreet 1:4d4c77589134 38 inB->write(1);
tkstreet 0:a0435a630c5d 39 motorOn = true;
tkstreet 0:a0435a630c5d 40 break;
tkstreet 0:a0435a630c5d 41 case DIRECTION_BRAKE:
tkstreet 1:4d4c77589134 42 inA->write(1);
tkstreet 1:4d4c77589134 43 inB->write(1);
tkstreet 0:a0435a630c5d 44 motorOn = true;
tkstreet 0:a0435a630c5d 45 break;
tkstreet 0:a0435a630c5d 46 case DIRECTION_COAST:
tkstreet 1:4d4c77589134 47 inA->write(0);
tkstreet 1:4d4c77589134 48 inB->write(0);
tkstreet 0:a0435a630c5d 49 motorOn = false;
tkstreet 0:a0435a630c5d 50 break;
tkstreet 0:a0435a630c5d 51 default:
tkstreet 0:a0435a630c5d 52 return ERROR_DIRECTION;
tkstreet 0:a0435a630c5d 53 }
tkstreet 0:a0435a630c5d 54
tkstreet 0:a0435a630c5d 55 return SUCCESS;
tkstreet 0:a0435a630c5d 56 }
tkstreet 0:a0435a630c5d 57
tkstreet 0:a0435a630c5d 58 AP1017::Status AP1017::setDutyCycle(float dc)
tkstreet 0:a0435a630c5d 59 {
tkstreet 0:a0435a630c5d 60 if((dutyCycle <= 1.00) && (dutyCycle >= 0.0)){
tkstreet 0:a0435a630c5d 61 dutyCycle = dc;
tkstreet 0:a0435a630c5d 62
tkstreet 0:a0435a630c5d 63 pulseWidth_us = dutyCycle * pwmPeriod_us; // Override pulse width
tkstreet 0:a0435a630c5d 64
tkstreet 0:a0435a630c5d 65 if(motorOn == true){
tkstreet 1:4d4c77589134 66 motor->write(dutyCycle); // If motor is on, keep it on
tkstreet 0:a0435a630c5d 67 }
tkstreet 0:a0435a630c5d 68
tkstreet 0:a0435a630c5d 69 }
tkstreet 0:a0435a630c5d 70 else{
tkstreet 0:a0435a630c5d 71 dutyCycle = 0.0;
tkstreet 0:a0435a630c5d 72 pulseWidth_us = 0.0;
tkstreet 0:a0435a630c5d 73
tkstreet 0:a0435a630c5d 74 return ERROR_DUTY_CYCLE;
tkstreet 0:a0435a630c5d 75 }
tkstreet 0:a0435a630c5d 76
tkstreet 0:a0435a630c5d 77 return SUCCESS;
tkstreet 0:a0435a630c5d 78 }
tkstreet 0:a0435a630c5d 79
tkstreet 0:a0435a630c5d 80
tkstreet 0:a0435a630c5d 81 AP1017::Status AP1017::setFrequency(float freq)
tkstreet 0:a0435a630c5d 82 {
tkstreet 0:a0435a630c5d 83 if(freq > MAX_FREQUENCY){
tkstreet 0:a0435a630c5d 84 return ERROR_FREQUENCY;
tkstreet 0:a0435a630c5d 85 }
tkstreet 0:a0435a630c5d 86
tkstreet 0:a0435a630c5d 87 freq_hz = freq;
tkstreet 0:a0435a630c5d 88 pwmPeriod_us = (1/freq)/0.000001; // Calculate the period
tkstreet 0:a0435a630c5d 89
tkstreet 0:a0435a630c5d 90 return SUCCESS;
tkstreet 0:a0435a630c5d 91 }
tkstreet 0:a0435a630c5d 92
tkstreet 0:a0435a630c5d 93
tkstreet 0:a0435a630c5d 94 AP1017::Status AP1017::setPeriod_us(float per)
tkstreet 0:a0435a630c5d 95 {
tkstreet 0:a0435a630c5d 96 if(per < 0){
tkstreet 0:a0435a630c5d 97 return ERROR_PERIOD;
tkstreet 0:a0435a630c5d 98 }
tkstreet 0:a0435a630c5d 99
tkstreet 0:a0435a630c5d 100 pwmPeriod_us = per;
tkstreet 0:a0435a630c5d 101
tkstreet 0:a0435a630c5d 102 freq_hz = 1/(per * 0.000001); // Calculate the frequency
tkstreet 0:a0435a630c5d 103
tkstreet 0:a0435a630c5d 104 if(motorOn == true){ // If motor on, keep it on
tkstreet 1:4d4c77589134 105 motor->period_us(pwmPeriod_us);
tkstreet 0:a0435a630c5d 106 }
tkstreet 0:a0435a630c5d 107
tkstreet 0:a0435a630c5d 108 return SUCCESS;
tkstreet 0:a0435a630c5d 109 }
tkstreet 0:a0435a630c5d 110
tkstreet 0:a0435a630c5d 111
tkstreet 0:a0435a630c5d 112 AP1017::Status AP1017::setPulseWidth_us(float pw)
tkstreet 0:a0435a630c5d 113 {
tkstreet 0:a0435a630c5d 114 if((pw <= 0.0) || (pw > pwmPeriod_us)){
tkstreet 0:a0435a630c5d 115 return ERROR_PULSEWIDTH;
tkstreet 0:a0435a630c5d 116 }
tkstreet 0:a0435a630c5d 117
tkstreet 0:a0435a630c5d 118 dutyCycle = pw/pwmPeriod_us; // Override duty cycle
tkstreet 0:a0435a630c5d 119 pulseWidth_us = pw;
tkstreet 0:a0435a630c5d 120
tkstreet 0:a0435a630c5d 121 return SUCCESS;
tkstreet 0:a0435a630c5d 122 }
tkstreet 0:a0435a630c5d 123
tkstreet 0:a0435a630c5d 124
tkstreet 0:a0435a630c5d 125 AP1017::Status AP1017::startMotor(void)
tkstreet 0:a0435a630c5d 126 {
tkstreet 1:4d4c77589134 127 motor->period_us(pwmPeriod_us); // Set the period
tkstreet 1:4d4c77589134 128 motor->pulsewidth_us(pulseWidth_us); // Set the pulse width
tkstreet 1:4d4c77589134 129 motor->write(dutyCycle); // Set duty cycle, start motor
tkstreet 0:a0435a630c5d 130 motorOn = true; // Set ON flag
tkstreet 0:a0435a630c5d 131
tkstreet 0:a0435a630c5d 132 return SUCCESS;
tkstreet 0:a0435a630c5d 133 }
tkstreet 0:a0435a630c5d 134
tkstreet 0:a0435a630c5d 135
tkstreet 0:a0435a630c5d 136 AP1017::Status AP1017::stopMotor(void)
tkstreet 0:a0435a630c5d 137 {
tkstreet 1:4d4c77589134 138 motor->write(0.0); // turn motor off (duty cycle saved)
tkstreet 0:a0435a630c5d 139 motorOn = false; // Set OFF flag
tkstreet 0:a0435a630c5d 140
tkstreet 0:a0435a630c5d 141 return SUCCESS;
tkstreet 0:a0435a630c5d 142 }
tkstreet 0:a0435a630c5d 143
tkstreet 0:a0435a630c5d 144 AP1017::Status AP1017::brakeMotor(void)
tkstreet 0:a0435a630c5d 145 {
tkstreet 0:a0435a630c5d 146 setDirection(DIRECTION_BRAKE);
tkstreet 0:a0435a630c5d 147 return SUCCESS;
tkstreet 0:a0435a630c5d 148 }
tkstreet 0:a0435a630c5d 149
tkstreet 0:a0435a630c5d 150 AP1017::Status AP1017::coastMotor(void)
tkstreet 0:a0435a630c5d 151 {
tkstreet 0:a0435a630c5d 152 setDirection(DIRECTION_COAST);
tkstreet 0:a0435a630c5d 153 return SUCCESS;
tkstreet 0:a0435a630c5d 154 }