AKM Development Platform / AP1017

Motor driver library for the AP1017.

/media/uploads/tkstreet/akm_name_logo.png

AKM Development Platform

AP1017 Motor Driver

Import libraryAP1017

Motor driver library for the AP1017.

Last commit 02 May 2018 by AKM Development Platform

AP1017.h@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 #ifndef __AP1017_H
tkstreet 0:a0435a630c5d 2 #define __AP1017_H
tkstreet 0:a0435a630c5d 3
tkstreet 0:a0435a630c5d 4 #include "mbed.h"
tkstreet 10:16d45e3f4be3 5 #include "akdp_debug.h"
tkstreet 6:d4d3bc82d446 6 #include "tca9554a.h"
tkstreet 6:d4d3bc82d446 7 #include "I2C.h"
tkstreet 0:a0435a630c5d 8
tkstreet 0:a0435a630c5d 9 /**
tkstreet 0:a0435a630c5d 10 * This is a device driver for the AP1017 with pulse width modulation.
tkstreet 0:a0435a630c5d 11 */
tkstreet 0:a0435a630c5d 12 class AP1017
tkstreet 0:a0435a630c5d 13 {
tkstreet 0:a0435a630c5d 14 public:
tkstreet 0:a0435a630c5d 15
tkstreet 2:8a644b1066c4 16 /**
tkstreet 2:8a644b1066c4 17 * Default constructor creates motors with PWM initial duty cycle of 0%.
tkstreet 2:8a644b1066c4 18 * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
tkstreet 2:8a644b1066c4 19 */
tkstreet 9:1ca7d16de1c4 20 AP1017(DigitalOut* A, DigitalOut* B, I2C* M);
tkstreet 0:a0435a630c5d 21
tkstreet 2:8a644b1066c4 22 /**
tkstreet 2:8a644b1066c4 23 * Disables PWM for the motors.
tkstreet 0:a0435a630c5d 24 */
tkstreet 0:a0435a630c5d 25 ~AP1017(void);
tkstreet 0:a0435a630c5d 26
tkstreet 2:8a644b1066c4 27 /**
tkstreet 2:8a644b1066c4 28 * Return status enumeration for debugging.
tkstreet 0:a0435a630c5d 29 */
tkstreet 0:a0435a630c5d 30 typedef enum {
tkstreet 0:a0435a630c5d 31 SUCCESS = 0x00, /**< Successful termination */
tkstreet 0:a0435a630c5d 32 ERROR_FREQUENCY = 0x01, /**< Frequency out of bounds */
tkstreet 0:a0435a630c5d 33 ERROR_DUTY_CYCLE = 0x02, /**< Invalid duty cycle */
tkstreet 0:a0435a630c5d 34 ERROR_DIRECTION = 0x03, /**< Invalid direction */
tkstreet 0:a0435a630c5d 35 ERROR_PERIOD = 0x04, /**< Invalid period */
tkstreet 0:a0435a630c5d 36 ERROR_PULSEWIDTH = 0x05, /**< Invalid pulse width */
tkstreet 0:a0435a630c5d 37 ERROR_MOTORON = 0x06 /**< Direction switched while motor on */
tkstreet 0:a0435a630c5d 38 } Status;
tkstreet 0:a0435a630c5d 39
tkstreet 2:8a644b1066c4 40 /**
tkstreet 2:8a644b1066c4 41 * Motor directions.
tkstreet 0:a0435a630c5d 42 */
tkstreet 0:a0435a630c5d 43 typedef enum {
tkstreet 0:a0435a630c5d 44 DIRECTION_CW = 0x00, /**< Clockwise motor rotation */
tkstreet 0:a0435a630c5d 45 DIRECTION_CCW = 0x01, /**< Counterclockwise motor rotation */
tkstreet 4:c36159701cde 46 DIRECTION_COAST = 0x02, /**< Release motor to coast */
tkstreet 4:c36159701cde 47 DIRECTION_BRAKE = 0x03 /**< Brake motor */
tkstreet 0:a0435a630c5d 48 } Rotation;
tkstreet 0:a0435a630c5d 49
tkstreet 0:a0435a630c5d 50
tkstreet 2:8a644b1066c4 51 /**
tkstreet 2:8a644b1066c4 52 * Sets the direction to clockwise, counterclockwise, brake or coast.
tkstreet 2:8a644b1066c4 53 * Changing between clockwise and counterclockwise may only be performed
tkstreet 2:8a644b1066c4 54 * when motor is off.
tkstreet 0:a0435a630c5d 55 *
tkstreet 2:8a644b1066c4 56 * @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
tkstreet 0:a0435a630c5d 57 * or DIRECTION_BRAKE
tkstreet 2:8a644b1066c4 58 * @return Returns successful termination, ERROR_MOTORON for invalid
tkstreet 0:a0435a630c5d 59 * direction switching, or ERROR_DIRECTION for invalid direction.
tkstreet 0:a0435a630c5d 60 */
tkstreet 3:f8e70f639ed0 61 Status setDirection(Rotation dir);
tkstreet 3:f8e70f639ed0 62
tkstreet 3:f8e70f639ed0 63 /**
tkstreet 3:f8e70f639ed0 64 * Returns the currently set direction.
tkstreet 3:f8e70f639ed0 65 */
tkstreet 3:f8e70f639ed0 66 Rotation getDirection(void);
tkstreet 0:a0435a630c5d 67
tkstreet 2:8a644b1066c4 68 /**
tkstreet 3:f8e70f639ed0 69 * Sets the speed via setting the duty cycle. Duty cycle given
tkstreet 3:f8e70f639ed0 70 * as a percentage.
tkstreet 0:a0435a630c5d 71 *
tkstreet 2:8a644b1066c4 72 * @param dc Duty cycle as a proportion (0.0 to 1.0).
tkstreet 2:8a644b1066c4 73 * @return Returns successful termination or dutyc cyle error.
tkstreet 0:a0435a630c5d 74 */
tkstreet 11:fe157aefa7e7 75 Status setSpeed(double dc);
tkstreet 0:a0435a630c5d 76
tkstreet 2:8a644b1066c4 77 /**
tkstreet 3:f8e70f639ed0 78 * Returns the currently set speed as a percentage.
tkstreet 0:a0435a630c5d 79 */
tkstreet 11:fe157aefa7e7 80 double getSpeed(void);
tkstreet 0:a0435a630c5d 81
tkstreet 2:8a644b1066c4 82 /**
tkstreet 2:8a644b1066c4 83 * Engages the motor.
tkstreet 2:8a644b1066c4 84 *
tkstreet 2:8a644b1066c4 85 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 86 */
tkstreet 3:f8e70f639ed0 87 Status start(void);
tkstreet 0:a0435a630c5d 88
tkstreet 2:8a644b1066c4 89 /**
tkstreet 2:8a644b1066c4 90 * Stops forced rotation of the motor.
tkstreet 2:8a644b1066c4 91 *
tkstreet 2:8a644b1066c4 92 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 93 */
tkstreet 3:f8e70f639ed0 94 Status stop(void);
tkstreet 0:a0435a630c5d 95
tkstreet 2:8a644b1066c4 96 /**
tkstreet 2:8a644b1066c4 97 * Applies forced braking of motor.
tkstreet 2:8a644b1066c4 98 *
tkstreet 2:8a644b1066c4 99 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 100 */
tkstreet 3:f8e70f639ed0 101 Status brake(void);
tkstreet 0:a0435a630c5d 102
tkstreet 0:a0435a630c5d 103 /**
tkstreet 2:8a644b1066c4 104 * Removes force from the motor and allows it to spin freely.
tkstreet 2:8a644b1066c4 105 *
tkstreet 2:8a644b1066c4 106 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 107 */
tkstreet 3:f8e70f639ed0 108 Status coast(void);
tkstreet 4:c36159701cde 109
tkstreet 4:c36159701cde 110 /**
tkstreet 4:c36159701cde 111 * Checks if the motor is currently running.
tkstreet 4:c36159701cde 112 *
tkstreet 4:c36159701cde 113 * @return TRUE if motor is on, FALSE if not.
tkstreet 4:c36159701cde 114 */
tkstreet 4:c36159701cde 115 bool isMotorOn(void);
tkstreet 0:a0435a630c5d 116
tkstreet 0:a0435a630c5d 117 private:
tkstreet 0:a0435a630c5d 118
tkstreet 3:f8e70f639ed0 119 bool motorOn; // Status flag for the motor
tkstreet 11:fe157aefa7e7 120 double dutyCycle; // Given as proportion: 0.00 to 1.00
tkstreet 3:f8e70f639ed0 121 Rotation direction;
tkstreet 0:a0435a630c5d 122
tkstreet 6:d4d3bc82d446 123 TCA9554A *motor; // Motor object
tkstreet 9:1ca7d16de1c4 124 I2C* i2cMotor;
tkstreet 3:f8e70f639ed0 125
tkstreet 9:1ca7d16de1c4 126 DigitalOut* inA;
tkstreet 9:1ca7d16de1c4 127 DigitalOut* inB;
tkstreet 0:a0435a630c5d 128 /* inA=L, inB=L -> Standby (Coast)
tkstreet 0:a0435a630c5d 129 * inA=H, inB=L -> Forward (CW)
tkstreet 0:a0435a630c5d 130 * inA=L, inB=H -> Reverse (CCW)
tkstreet 0:a0435a630c5d 131 * inA=H, inB=H -> Brake
tkstreet 0:a0435a630c5d 132 */
tkstreet 0:a0435a630c5d 133
tkstreet 0:a0435a630c5d 134 };
tkstreet 0:a0435a630c5d 135
tkstreet 0:a0435a630c5d 136 #endif