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@11:fe157aefa7e7, 2018-05-02 (annotated)

Committer:
tkstreet
Date:
Wed May 02 19:51:16 2018 +0000
Revision:
11:fe157aefa7e7
Parent:
10:16d45e3f4be3 
Changed all float values to double precision.

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 9:1ca7d16de1c4 6 AP1017::AP1017(DigitalOut* A, DigitalOut* B, I2C* M) : motorOn(false), dutyCycle(0.0)
tkstreet 0:a0435a630c5d 7 {
tkstreet 9:1ca7d16de1c4 8 i2cMotor = M;
tkstreet 9:1ca7d16de1c4 9 inA = A;
tkstreet 9:1ca7d16de1c4 10 inB = B;
tkstreet 9:1ca7d16de1c4 11
tkstreet 6:d4d3bc82d446 12 // Instantiate TCA9554A
tkstreet 6:d4d3bc82d446 13 motor = new TCA9554A(i2cMotor, TCA9554A::SLAVE_ADDRESS_38H); // 38H->Port 0->RSV
tkstreet 6:d4d3bc82d446 14
tkstreet 6:d4d3bc82d446 15 // Initialize RSV as output
tkstreet 6:d4d3bc82d446 16 if (motor->configurePort(TCA9554A::PORT_0, TCA9554A::DIR_OUTPUT)!= TCA9554A::SUCCESS) {
tkstreet 6:d4d3bc82d446 17 MSG("#AP1017: Error configuring TCA9554A port.\r\n");
tkstreet 6:d4d3bc82d446 18 }
tkstreet 6:d4d3bc82d446 19 motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW); // Turn motor off
tkstreet 0:a0435a630c5d 20 }
tkstreet 0:a0435a630c5d 21
tkstreet 0:a0435a630c5d 22 // Default destructor
tkstreet 0:a0435a630c5d 23 AP1017::~AP1017(void)
tkstreet 0:a0435a630c5d 24 {
tkstreet 3:f8e70f639ed0 25 stop();
tkstreet 6:d4d3bc82d446 26 delete inA, inB, motor, i2cMotor;
tkstreet 0:a0435a630c5d 27 }
tkstreet 0:a0435a630c5d 28
tkstreet 0:a0435a630c5d 29 /*********************** Member Functions ***********************************/
tkstreet 0:a0435a630c5d 30
tkstreet 4:c36159701cde 31 AP1017::Status AP1017::setDirection(AP1017::Rotation dir)
tkstreet 0:a0435a630c5d 32 {
tkstreet 3:f8e70f639ed0 33 direction = dir;
tkstreet 4:c36159701cde 34
tkstreet 3:f8e70f639ed0 35 switch(direction){
tkstreet 4:c36159701cde 36 case DIRECTION_CW: // direction = 0x00
tkstreet 4:c36159701cde 37 if(isMotorOn())
tkstreet 4:c36159701cde 38 {
tkstreet 10:16d45e3f4be3 39 MSG("#Error: Cannot change direction while motor is running.\r\n");
tkstreet 0:a0435a630c5d 40 return ERROR_MOTORON;
tkstreet 4:c36159701cde 41 }else
tkstreet 4:c36159701cde 42 {
tkstreet 4:c36159701cde 43 inA->write(1);
tkstreet 4:c36159701cde 44 inB->write(0);
tkstreet 10:16d45e3f4be3 45 MSG("#Direction: CCW\r\n");
tkstreet 4:c36159701cde 46 }
tkstreet 0:a0435a630c5d 47 break;
tkstreet 4:c36159701cde 48 case DIRECTION_CCW: // direction = 0x01
tkstreet 4:c36159701cde 49 if(isMotorOn())
tkstreet 4:c36159701cde 50 {
tkstreet 10:16d45e3f4be3 51 MSG("#Error: Cannot change direction while motor is running.\r\n");
tkstreet 0:a0435a630c5d 52 return ERROR_MOTORON;
tkstreet 4:c36159701cde 53 }else
tkstreet 4:c36159701cde 54 {
tkstreet 4:c36159701cde 55 inA->write(0);
tkstreet 4:c36159701cde 56 inB->write(1);
tkstreet 10:16d45e3f4be3 57 MSG("#Direction: CW\r\n");
tkstreet 4:c36159701cde 58 }
tkstreet 0:a0435a630c5d 59 break;
tkstreet 4:c36159701cde 60 case DIRECTION_BRAKE: // direction = 0x03
tkstreet 1:4d4c77589134 61 inA->write(1);
tkstreet 1:4d4c77589134 62 inB->write(1);
tkstreet 10:16d45e3f4be3 63 MSG("#Direction: Brake\r\n");
tkstreet 0:a0435a630c5d 64 break;
tkstreet 4:c36159701cde 65 case DIRECTION_COAST: // direction = 0x04
tkstreet 1:4d4c77589134 66 inA->write(0);
tkstreet 1:4d4c77589134 67 inB->write(0);
tkstreet 0:a0435a630c5d 68 motorOn = false;
tkstreet 10:16d45e3f4be3 69 MSG("#Direction: Coast\r\n");
tkstreet 0:a0435a630c5d 70 break;
tkstreet 0:a0435a630c5d 71 default:
tkstreet 0:a0435a630c5d 72 return ERROR_DIRECTION;
tkstreet 0:a0435a630c5d 73 }
tkstreet 0:a0435a630c5d 74
tkstreet 0:a0435a630c5d 75 return SUCCESS;
tkstreet 0:a0435a630c5d 76 }
tkstreet 0:a0435a630c5d 77
tkstreet 3:f8e70f639ed0 78
tkstreet 3:f8e70f639ed0 79 AP1017::Rotation AP1017::getDirection(void)
tkstreet 0:a0435a630c5d 80 {
tkstreet 10:16d45e3f4be3 81 MSG("#Direction: ");
tkstreet 10:16d45e3f4be3 82 switch(direction){
tkstreet 10:16d45e3f4be3 83 case DIRECTION_CW:
tkstreet 10:16d45e3f4be3 84 MSG("CW\r\n");
tkstreet 10:16d45e3f4be3 85 break;
tkstreet 10:16d45e3f4be3 86 case DIRECTION_CCW:
tkstreet 10:16d45e3f4be3 87 MSG("CCW\r\n");
tkstreet 10:16d45e3f4be3 88 break;
tkstreet 10:16d45e3f4be3 89 case DIRECTION_COAST:
tkstreet 10:16d45e3f4be3 90 MSG("Coast\r\n");
tkstreet 10:16d45e3f4be3 91 break;
tkstreet 10:16d45e3f4be3 92 case DIRECTION_BRAKE:
tkstreet 10:16d45e3f4be3 93 MSG("Brake\r\n");
tkstreet 10:16d45e3f4be3 94 break;
tkstreet 10:16d45e3f4be3 95 default:
tkstreet 10:16d45e3f4be3 96 MSG("Error: Invalid direction\r\n");
tkstreet 10:16d45e3f4be3 97 }
tkstreet 3:f8e70f639ed0 98 return direction;
tkstreet 3:f8e70f639ed0 99 }
tkstreet 3:f8e70f639ed0 100
tkstreet 0:a0435a630c5d 101
tkstreet 11:fe157aefa7e7 102 AP1017::Status AP1017::setSpeed(double dc)
tkstreet 3:f8e70f639ed0 103 {
tkstreet 9:1ca7d16de1c4 104 if((dc <= 100.0) && (dc >= 0.0))
tkstreet 9:1ca7d16de1c4 105 {
tkstreet 3:f8e70f639ed0 106 dutyCycle = dc/100.0;
tkstreet 0:a0435a630c5d 107
tkstreet 0:a0435a630c5d 108 if(motorOn == true){
tkstreet 10:16d45e3f4be3 109 MSG("Speed setting not yet implemented.\r\n");
tkstreet 10:16d45e3f4be3 110 //MSG("#Changed running motor speed: %.1f%%.\r\n", dc);
tkstreet 0:a0435a630c5d 111 }
tkstreet 0:a0435a630c5d 112 }
tkstreet 9:1ca7d16de1c4 113 else
tkstreet 9:1ca7d16de1c4 114 {
tkstreet 0:a0435a630c5d 115 dutyCycle = 0.0;
tkstreet 0:a0435a630c5d 116 return ERROR_DUTY_CYCLE;
tkstreet 0:a0435a630c5d 117 }
tkstreet 0:a0435a630c5d 118
tkstreet 0:a0435a630c5d 119 return SUCCESS;
tkstreet 0:a0435a630c5d 120 }
tkstreet 0:a0435a630c5d 121
tkstreet 0:a0435a630c5d 122
tkstreet 11:fe157aefa7e7 123 double AP1017::getSpeed(void)
tkstreet 0:a0435a630c5d 124 {
tkstreet 10:16d45e3f4be3 125 MSG("Speed: %.1f%%\r\n.", dutyCycle*100.0);
tkstreet 3:f8e70f639ed0 126 return dutyCycle*100.0;
tkstreet 0:a0435a630c5d 127 }
tkstreet 0:a0435a630c5d 128
tkstreet 0:a0435a630c5d 129
tkstreet 3:f8e70f639ed0 130 AP1017::Status AP1017::start(void)
tkstreet 0:a0435a630c5d 131 {
tkstreet 6:d4d3bc82d446 132 motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::HIGH); // set RSV high
tkstreet 0:a0435a630c5d 133 motorOn = true; // Set ON flag
tkstreet 0:a0435a630c5d 134
tkstreet 0:a0435a630c5d 135 return SUCCESS;
tkstreet 0:a0435a630c5d 136 }
tkstreet 0:a0435a630c5d 137
tkstreet 0:a0435a630c5d 138
tkstreet 3:f8e70f639ed0 139 AP1017::Status AP1017::stop(void)
tkstreet 0:a0435a630c5d 140 {
tkstreet 6:d4d3bc82d446 141 motor->setPortLevel(TCA9554A::PORT_0, TCA9554A::LOW); // set RSV low
tkstreet 0:a0435a630c5d 142 motorOn = false; // Set OFF flag
tkstreet 0:a0435a630c5d 143
tkstreet 0:a0435a630c5d 144 return SUCCESS;
tkstreet 0:a0435a630c5d 145 }
tkstreet 0:a0435a630c5d 146
tkstreet 3:f8e70f639ed0 147 AP1017::Status AP1017::brake(void)
tkstreet 0:a0435a630c5d 148 {
tkstreet 0:a0435a630c5d 149 setDirection(DIRECTION_BRAKE);
tkstreet 0:a0435a630c5d 150 return SUCCESS;
tkstreet 0:a0435a630c5d 151 }
tkstreet 0:a0435a630c5d 152
tkstreet 3:f8e70f639ed0 153 AP1017::Status AP1017::coast(void)
tkstreet 0:a0435a630c5d 154 {
tkstreet 0:a0435a630c5d 155 setDirection(DIRECTION_COAST);
tkstreet 0:a0435a630c5d 156 return SUCCESS;
tkstreet 4:c36159701cde 157 }
tkstreet 4:c36159701cde 158
tkstreet 4:c36159701cde 159 bool AP1017::isMotorOn(void)
tkstreet 4:c36159701cde 160 {
tkstreet 4:c36159701cde 161 return motorOn;
tkstreet 0:a0435a630c5d 162 }