AP1017.h

00001 #ifndef __AP1017_H
00002 #define __AP1017_H
00003 
00004 #include "mbed.h"
00005 #include "akdp_debug.h"
00006 #include "tca9554a.h"
00007 #include "I2C.h"
00008 
00009 /**
00010  * This is a device driver for the AP1017 with pulse width modulation.
00011  */
00012 class AP1017
00013 {
00014 public:
00015 
00016     /**
00017      * Default constructor creates motors with PWM initial duty cycle of 0%.
00018      * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
00019      */
00020     AP1017(DigitalOut* A, DigitalOut* B, I2C* M);
00021 
00022     /** 
00023      * Disables PWM for the motors.
00024      */
00025      ~AP1017(void);
00026 
00027     /**
00028      * Return status enumeration for debugging.
00029      */
00030     typedef enum {
00031         SUCCESS = 0x00,             /**< Successful termination */
00032         ERROR_FREQUENCY = 0x01,     /**< Frequency out of bounds */
00033         ERROR_DUTY_CYCLE = 0x02,    /**< Invalid duty cycle */
00034         ERROR_DIRECTION = 0x03,     /**< Invalid direction */
00035         ERROR_PERIOD = 0x04,        /**< Invalid period */
00036         ERROR_PULSEWIDTH = 0x05,    /**< Invalid pulse width */
00037         ERROR_MOTORON = 0x06        /**< Direction switched while motor on */
00038     } Status;
00039 
00040     /**
00041      * Motor directions.
00042      */
00043     typedef enum {
00044         DIRECTION_CW = 0x00,        /**< Clockwise motor rotation */
00045         DIRECTION_CCW = 0x01,       /**< Counterclockwise motor rotation */
00046         DIRECTION_COAST = 0x02,     /**< Release motor to coast */
00047         DIRECTION_BRAKE = 0x03      /**< Brake motor */
00048     } Rotation;
00049 
00050 
00051     /**
00052      * Sets the direction to clockwise, counterclockwise, brake or coast.
00053      * Changing between clockwise and counterclockwise may only be performed
00054      * when motor is off.
00055      *
00056      * @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
00057      *             or DIRECTION_BRAKE
00058      * @return Returns successful termination, ERROR_MOTORON for invalid
00059      *          direction switching, or ERROR_DIRECTION for invalid direction.
00060      */
00061     Status  setDirection(Rotation dir);
00062     
00063     /**
00064      * Returns the currently set direction.
00065      */
00066     Rotation getDirection(void);
00067 
00068     /**
00069      * Sets the speed via setting the duty cycle. Duty cycle given
00070      * as a percentage.
00071      *
00072      * @param dc Duty cycle as a proportion (0.0 to 1.0).
00073      * @return Returns successful termination or dutyc cyle error.
00074      */
00075     Status  setSpeed(double dc);
00076 
00077     /**
00078      * Returns the currently set speed as a percentage.
00079      */
00080     double getSpeed(void);
00081 
00082     /**
00083      * Engages the motor.
00084      *
00085      * @return Returns successful termination or pulse width error.
00086      */
00087     Status  start(void);
00088 
00089     /**
00090      * Stops forced rotation of the motor.
00091      *
00092      * @return Returns successful termination or pulse width error.
00093      */
00094     Status  stop(void);
00095 
00096     /**
00097      * Applies forced braking of motor.
00098      *
00099      * @return Returns successful termination or pulse width error.
00100      */
00101     Status  brake(void);
00102 
00103     /**
00104      * Removes force from the motor and allows it to spin freely.
00105      *
00106      * @return Returns successful termination or pulse width error.
00107      */
00108     Status  coast(void);
00109     
00110     /**
00111      * Checks if the motor is currently running.
00112      *
00113      * @return TRUE if motor is on, FALSE if not.
00114      */
00115     bool isMotorOn(void);
00116 
00117 private:
00118 
00119     bool        motorOn;            // Status flag for the motor
00120     double      dutyCycle;          // Given as proportion: 0.00 to 1.00
00121     Rotation    direction;
00122     
00123     TCA9554A    *motor;              // Motor object
00124     I2C*        i2cMotor;
00125     
00126     DigitalOut* inA;
00127     DigitalOut* inB;
00128     /* inA=L, inB=L -> Standby (Coast)
00129      * inA=H, inB=L -> Forward (CW)
00130      * inA=L, inB=H -> Reverse (CCW)
00131      * inA=H, inB=H -> Brake
00132      */
00133 
00134 };
00135 
00136 #endif