AKM Development Platform / AP1017

Motor driver library for the AP1017.

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AP1017 Class Reference
Public Types | Public Member Functions

AP1017 Class Reference

This is a device driver for the AP1017 with pulse width modulation. More...

#include <AP1017.h>

Public Types

enum  Status {
  SUCCESS = 0x00, ERROR_FREQUENCY = 0x01, ERROR_DUTY_CYCLE = 0x02, ERROR_DIRECTION = 0x03,
  ERROR_PERIOD = 0x04, ERROR_PULSEWIDTH = 0x05, ERROR_MOTORON = 0x06
}
 

Return status enumeration for debugging.

More...
enum  Rotation { DIRECTION_CW = 0x00, DIRECTION_CCW = 0x01, DIRECTION_COAST = 0x02, DIRECTION_BRAKE = 0x03 }
 

Motor directions.

More...

Public Member Functions

 AP1017 (DigitalOut *A, DigitalOut *B, I2C *M)
 Default constructor creates motors with PWM initial duty cycle of 0%.
 ~AP1017 (void)
 Disables PWM for the motors.
Status setDirection (Rotation dir)
 Sets the direction to clockwise, counterclockwise, brake or coast.
Rotation getDirection (void)
 Returns the currently set direction.
Status setSpeed (double dc)
 Sets the speed via setting the duty cycle.
double getSpeed (void)
 Returns the currently set speed as a percentage.
Status start (void)
 Engages the motor.
Status stop (void)
 Stops forced rotation of the motor.
Status brake (void)
 Applies forced braking of motor.
Status coast (void)
 Removes force from the motor and allows it to spin freely.
bool isMotorOn (void)
 Checks if the motor is currently running.

Detailed Description

This is a device driver for the AP1017 with pulse width modulation.

Definition at line 12 of file AP1017.h.

Member Enumeration Documentation

enum Rotation

Motor directions.

Enumerator:
DIRECTION_CW 

Clockwise motor rotation.

DIRECTION_CCW 

Counterclockwise motor rotation.

DIRECTION_COAST 

Release motor to coast.

DIRECTION_BRAKE 

Brake motor.

Definition at line 43 of file AP1017.h.

enum Status

Return status enumeration for debugging.

Enumerator:
SUCCESS 

Successful termination.

ERROR_FREQUENCY 

Frequency out of bounds.

ERROR_DUTY_CYCLE 

Invalid duty cycle.

ERROR_DIRECTION 

Invalid direction.

ERROR_PERIOD 

Invalid period.

ERROR_PULSEWIDTH 

Invalid pulse width.

ERROR_MOTORON 

Direction switched while motor on.

Definition at line 30 of file AP1017.h.

Constructor & Destructor Documentation

AP1017 ( DigitalOut *  A,
DigitalOut *  B,
I2C *  M 
)

Default constructor creates motors with PWM initial duty cycle of 0%.

Motor EN pin connected to D2, INA connected to D0, INB connected to D1.

Definition at line 6 of file AP1017.cpp.

~AP1017 ( void   )

Disables PWM for the motors.

Definition at line 23 of file AP1017.cpp.

Member Function Documentation

AP1017::Status brake ( void   )

Applies forced braking of motor.

Returns:
Returns successful termination or pulse width error.

Definition at line 147 of file AP1017.cpp.

AP1017::Status coast ( void   )

Removes force from the motor and allows it to spin freely.

Returns:
Returns successful termination or pulse width error.

Definition at line 153 of file AP1017.cpp.

AP1017::Rotation getDirection ( void   )

Returns the currently set direction.

Definition at line 79 of file AP1017.cpp.

double getSpeed ( void   )

Returns the currently set speed as a percentage.

Definition at line 123 of file AP1017.cpp.

bool isMotorOn ( void   )

Checks if the motor is currently running.

Returns:
TRUE if motor is on, FALSE if not.

Definition at line 159 of file AP1017.cpp.

AP1017::Status setDirection ( AP1017::Rotation  dir )

Sets the direction to clockwise, counterclockwise, brake or coast.

Changing between clockwise and counterclockwise may only be performed when motor is off.

Parameters:
dirRotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST, or DIRECTION_BRAKE
Returns:
Returns successful termination, ERROR_MOTORON for invalid direction switching, or ERROR_DIRECTION for invalid direction.

Definition at line 31 of file AP1017.cpp.

AP1017::Status setSpeed ( double  dc )

Sets the speed via setting the duty cycle.

Duty cycle given as a percentage.

Parameters:
dcDuty cycle as a proportion (0.0 to 1.0).
Returns:
Returns successful termination or dutyc cyle error.

Definition at line 102 of file AP1017.cpp.

AP1017::Status start ( void   )

Engages the motor.

Returns:
Returns successful termination or pulse width error.

Definition at line 130 of file AP1017.cpp.

AP1017::Status stop ( void   )

Stops forced rotation of the motor.

Returns:
Returns successful termination or pulse width error.

Definition at line 139 of file AP1017.cpp.

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