Motor driver library for the AP1017.
AKM Development Platform
AP1017 Motor Driver
Import libraryAP1017
Motor driver library for the AP1017.
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?
User | Revision | Line number | New 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 |