Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
MotorDriver.cpp
- Committer:
- pvaibhav
- Date:
- 2015-01-23
- Revision:
- 4:e759b8c756da
- Parent:
- 3:ee90a9ada112
- Child:
- 12:1632d7391453
File content as of revision 4:e759b8c756da:
#include "MotorDriver.h" #include <cassert> #include <cmath> #define DEBUG "Motor" #include "Logger.h" MotorDriver::MotorDriver(I2C &i2c, const uint8_t address) : I2CPeripheral(i2c, address) { INFO("Motor driver at addr=%#x ready", address); } void MotorDriver::setVoltage(const float voltage) { assert(abs(voltage) <= 5.06); const bool stop = fabs(voltage) < 0.48; const float Vr = 1.285; // internal reference voltage if (stop) { write_reg(0x00, 0x03); // last 2 bits = 11 = "brake" } else { const uint8_t DAC_val = ceil( (16.0 * fabs(voltage) / Vr) - 1.0 ); // derived from table on DRV8830 datasheet page 10 const uint8_t direction = (voltage > 0.0) ? 0x01 : 0x02; // forward or reverse is set through last 2 bits write_reg(0x00, (DAC_val << 2) | direction); } } MotorDriver& MotorDriver::operator=(const float voltage) { setVoltage(voltage); return *this; }