AKM Development Platform

Diff: AP1017.cpp

Revision:

3:f8e70f639ed0

Parent:

1:4d4c77589134

Child:

4:c36159701cde

--- a/AP1017.cpp	Mon Apr 17 19:17:25 2017 +0000
+++ b/AP1017.cpp	Wed Apr 19 23:13:04 2017 +0000
@@ -3,45 +3,42 @@
 /******************** Constructors & Destructors ****************************/
 
 // Default constructor
-AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0), freq_hz(0.0), 
-                        pulseWidth_us(0.0), pwmPeriod_us(0.0)
+AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0)
 {
-    motor = NULL;
-    inA = NULL;
-    inB = NULL;
+    motor = new PwmOut(P0_10);
+    inA = new DigitalOut(P0_11);
+    inB = new DigitalOut(P0_10);
 }
 
 // Default destructor
 AP1017::~AP1017(void)
 {
-    stopMotor();
+    stop();
     delete inA, inB, motor;
 }
 
 /*********************** Member Functions ***********************************/
 
-AP1017::Status AP1017::setDirection(char dir)
+AP1017::Status AP1017::setDirection(Rotation dir)
 {
+    direction = dir;
 
-    switch(dir){
+    switch(direction){
         case DIRECTION_CW:
             if(motorOn == true && dir == DIRECTION_CCW)
                 return ERROR_MOTORON;
             inA->write(1);
             inB->write(0);
-            motorOn = true;
             break;
         case DIRECTION_CCW:
             if(motorOn == true && dir == DIRECTION_CW)
                 return ERROR_MOTORON;
             inA->write(0);
             inB->write(1);
-            motorOn = true;
             break;
         case DIRECTION_BRAKE:
             inA->write(1);
             inB->write(1);
-            motorOn = true;
             break;
         case DIRECTION_COAST:
             inA->write(0);
@@ -55,21 +52,24 @@
     return SUCCESS;
 }
 
-AP1017::Status AP1017::setDutyCycle(float dc)
+
+AP1017::Rotation AP1017::getDirection(void)
 {
-    if((dutyCycle <= 1.00) && (dutyCycle >= 0.0)){
-        dutyCycle = dc;
+    return direction;
+}
+
 
-        pulseWidth_us = dutyCycle * pwmPeriod_us; // Override pulse width
+AP1017::Status AP1017::setSpeed(float dc)
+{
+    if((dutyCycle <= 100.0) && (dutyCycle >= 0.0)){
+        dutyCycle = dc/100.0;
 
         if(motorOn == true){
             motor->write(dutyCycle);          // If motor is on, keep it on
         }
-
     }
     else{
         dutyCycle = 0.0;
-        pulseWidth_us = 0.0;
 
         return ERROR_DUTY_CYCLE;
     }
@@ -78,76 +78,36 @@
 }
 
 
-AP1017::Status AP1017::setFrequency(float freq)
+float AP1017::getSpeed(void)
 {
-    if(freq > MAX_FREQUENCY){
-        return ERROR_FREQUENCY;
-    }
-
-    freq_hz = freq;
-    pwmPeriod_us = (1/freq)/0.000001;        // Calculate the period
-
-    return SUCCESS;
+    return dutyCycle*100.0;
 }
 
 
-AP1017::Status AP1017::setPeriod_us(float per)
+AP1017::Status AP1017::start(void)
 {
-    if(per < 0){
-        return ERROR_PERIOD;
-    }
-
-    pwmPeriod_us = per;
-
-    freq_hz = 1/(per * 0.000001);   // Calculate the frequency
-
-    if(motorOn == true){                // If motor on, keep it on
-        motor->period_us(pwmPeriod_us);
-    }
-
-    return SUCCESS;
-}
-
-
- AP1017::Status AP1017::setPulseWidth_us(float pw)
- {
-     if((pw <= 0.0) || (pw > pwmPeriod_us)){
-         return ERROR_PULSEWIDTH;
-     }
-
-     dutyCycle = pw/pwmPeriod_us;     // Override duty cycle
-     pulseWidth_us = pw;
-
-     return SUCCESS;
- }
-
-
-AP1017::Status AP1017::startMotor(void)
-{
-    motor->period_us(pwmPeriod_us);          // Set the period
-    motor->pulsewidth_us(pulseWidth_us);     // Set the pulse width
-    motor->write(dutyCycle);                 // Set duty cycle, start motor
+    motor->write(dutyCycle);                // Set duty cycle, start motor
     motorOn = true;                         // Set ON flag
 
     return SUCCESS;
 }
 
 
-AP1017::Status AP1017::stopMotor(void)
+AP1017::Status AP1017::stop(void)
 {
-    motor->write(0.0);                       // turn motor off (duty cycle saved)
+    motor->write(0.0);                      // turn motor off (duty cycle saved)
     motorOn = false;                        // Set OFF flag
 
     return SUCCESS;
 }
 
-AP1017::Status  AP1017::brakeMotor(void)
+AP1017::Status  AP1017::brake(void)
 {
     setDirection(DIRECTION_BRAKE);
     return SUCCESS;
 }
 
-AP1017::Status  AP1017::coastMotor(void)
+AP1017::Status  AP1017::coast(void)
 {
     setDirection(DIRECTION_COAST);
     return SUCCESS;