AKM Development Platform

File content as of revision 5:2da4339149a6:

#include "AP1017.h"
#include "debug.h"

/******************** Constructors & Destructors ****************************/

// Default constructor
AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0)
{
    motor = new PwmOut(P0_10);
    inA = new DigitalOut(P0_11);
    inB = new DigitalOut(P0_9);
}

// Default destructor
AP1017::~AP1017(void)
{
    stop();
    delete inA, inB, motor;
}

/*********************** Member Functions ***********************************/

AP1017::Status AP1017::setDirection(AP1017::Rotation dir)
{
    direction = dir;
    
    switch(direction){
        case DIRECTION_CW:                              // direction = 0x00
            if(isMotorOn())
            {
                MSG("#AP1017.cpp: Error. Cannot change direction while motor is running.\r\n");
                return ERROR_MOTORON;
            }else
            {
                inA->write(1);
                inB->write(0);
                MSG("#AP1017.cpp: Direction: CCW\r\n");
            }
            break;
        case DIRECTION_CCW:                                 // direction = 0x01
            if(isMotorOn())
            {
                MSG("#AP1017.cpp: Error. Cannot change direction while motor is running.\r\n");
                return ERROR_MOTORON;
            }else
            {
                inA->write(0);
                inB->write(1);
                MSG("#AP1017.cpp: Direction: CW\r\n");
            }
            break;
        case DIRECTION_BRAKE:                              // direction = 0x03
            inA->write(1);
            inB->write(1);
            MSG("#AP1017.cpp: Direction: Brake\r\n");
            break;
        case DIRECTION_COAST:                              // direction = 0x04
            inA->write(0);
            inB->write(0);
            motorOn = false;
            MSG("#AP1017.cpp: Direction: Coast\r\n");
            break;
        default:
            return ERROR_DIRECTION;
    }

    return SUCCESS;
}


AP1017::Rotation AP1017::getDirection(void)
{
    return direction;
}


AP1017::Status AP1017::setSpeed(float dc)
{
    if((dc <= 100.0) && (dc >= 0.0)){
        dutyCycle = dc/100.0;
        MSG("#AP1017.cpp: dutyCycle = %.1f%%\r\n", dc);

        if(motorOn == true){
            motor->write(dutyCycle);          // If motor is on, keep it on
            MSG("#AP1017.cpp: Changed running motor speed.\r\n");
        }
    }
    else{
        dutyCycle = 0.0;

        return ERROR_DUTY_CYCLE;
    }

    return SUCCESS;
}


float AP1017::getSpeed(void)
{
    MSG("#AP1017.cpp: Speed = %.1f%%\r\n", dutyCycle);
    return dutyCycle*100.0;
}


AP1017::Status AP1017::start(void)
{
    motor->write(dutyCycle);                // Set duty cycle, start motor
    MSG("#AP1017.cpp: Motor: ON\r\n");
    motorOn = true;                         // Set ON flag

    return SUCCESS;
}


AP1017::Status AP1017::stop(void)
{
    motor->write(0.0);                      // turn motor off (duty cycle saved)
    MSG("#AP1017.cpp: Motor: OFF\r\n");
    motorOn = false;                        // Set OFF flag

    return SUCCESS;
}

AP1017::Status  AP1017::brake(void)
{
    setDirection(DIRECTION_BRAKE);
    MSG("#AP1017.cpp: Motor: BRAKE\r\n");
    return SUCCESS;
}

AP1017::Status  AP1017::coast(void)
{
    setDirection(DIRECTION_COAST);
    MSG("#AP1017.cpp: Motor: COAST\r\n");
    return SUCCESS;
}

bool AP1017::isMotorOn(void)
{
    return motorOn;
}