Clownface
Basic Motor Driver library. Being used with BTS7970 on the RC-AutoBot project. The latest DIY project created by your favorite open-source company: Clownface.space
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MotorDriver
by 
Matt Rogers
Revision 4:9283a3f684af, committed 2016-04-30
- Comitter:
- knotbeer
- Date:
- Sat Apr 30 05:38:43 2016 +0000
- Parent:
- 3:7a6365365ee2
- Commit message:
- API Documentation
Changed in this revision
| MotorDriver.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/MotorDriver.h Thu Apr 28 02:38:16 2016 +0000
+++ b/MotorDriver.h Sat Apr 30 05:38:43 2016 +0000
@@ -5,9 +5,9 @@
General/Basic Motor Driver Class providing Motor Control using a COTS Motor Driver
Class based off of Christopher Hasler's Motordriver library found at
- https://developer.mbed.org/cookbook/Motor
-
-
+ https://developer.mbed.org/cookbook/Motor
+
+
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
@@ -32,26 +32,19 @@
#include "mbed.h"
-/** Code_t enum
- * Provides motor states
- *
- * MOTOR_ERROR = 0
- * DRIVING_CW = 1
- * DRIVING_CCW = 2
- * BRAKING = 3
- * COASTING = 4
- */
-typedef enum {MOTOR_ERROR=0, DRIVING_CW=1, DRIVING_CCW=2, BRAKING=3, COASTING=4}Code_t;
-/** State_t struct
- * The code and value of the state of the motor.
- *
- * @note Code_t code
- * @note float value
- */
-typedef struct{
- Code_t code;
- float value;
-}State_t;
+/** The state of the motor */
+typedef enum {
+ MOTOR_ERROR=0, /**< Motor Error Mode */
+ DRIVING_CW=1, /**< Driving Clockwise (forward) */
+ DRIVING_CCW=2, /**< Driving Counter-Clockwise (reverse) */
+ BRAKING=3, /**< Braking Mode */
+ COASTING=4 /**< Coasting Mode */
+} Code_t;
+/** The code and value of the state of the motor. */
+typedef struct {
+ Code_t code; /**< The Code_t enum of the motor state */
+ float value; /**< The numerical value of the motor state */
+} State_t;
/** MotorDriver class.
* Used for DIY project "RC-AutoBot" by Clownface.space
*
@@ -61,7 +54,7 @@
* #include "MotorDriver.h"
*
* MotorDriver m1(in1, in2, pwm);
- *
+ *
* void dist(int distance)
* {
* //put code here to happen when the distance is changed
@@ -74,67 +67,62 @@
* }
* @endcode
*/
-class MotorDriver{
- public:
- /**
- Constructor of MotorDriver Objects
- @param in_1 Direction Input 1
- @param in_2 Direction Input 2
- @param pwm PWM speed control input
- @param pwmFreq PWM frequency, some motors may whine at lower freqs
- @param isBrakable Boolean value indicating whether or not the
- motor driver is brakeable(see your datasheet)
- */
- MotorDriver(DigitalOut in1, DigitalOut in2, PwmOut pwm, float pwmFreq, bool isBrakeable = false);
-
- /**
- Sets speed of motor normalized between -1.0 to 1.0
- @param speed Value -1.0 to 1.0 (>0 CW at speed as percentage)
- (<0 CCW at speed as percentage)
- (=0 speed is zero)
- @return state of the motor
- NOTE: This method will NOT allow user to instantaneously swithch
- from CW to CCW or vise versa. Doing so will cause the motor to
- be put in to a BRAKE condition, while the motor_state.code will
- be updated to MOTOR_ERROR. User should avoid trying to do this, call
- first setSpeed(0) or brake().
- */
- State_t setSpeed(float speed);
-
- /**
- Same as setSpeed(float speed), however does not impose the safety disallowing
- instantaneous reversal of motor direction. It is up to the user to ensure they
- do not blow up their motor.
-
- @param speed How fast to run the motor
- */
- State_t forceSetSpeed(float speed);
-
- /**
- Put motor into braked config
- @param intensity How hard to brake (0.0 to 1.0)
- @return state of the motors
- */
- State_t brake(float intensity);
-
- /**
- Put motor into stop/coast config
- */
- State_t coast();
-
- /**
- Get state of the motor
- @return state of the motor
- */
- State_t getState();
-
- protected: // Protected so objects that inherit can access
- State_t motor_state;
- DigitalOut _in1;
- DigitalOut _in2;
- PwmOut _pwm;
- bool isBrakeable;
- void determineState(); // Determine motor state based on in1, in2, and pwm
+class MotorDriver
+{
+public:
+ /** Constructor of MotorDriver Objects
+ @param in_1 Direction Input 1
+ @param in_2 Direction Input 2
+ @param pwm PWM speed control input
+ @param pwmFreq PWM frequency, some motors may whine at lower freqs
+ @param isBrakable Boolean value indicating whether or not the
+ motor driver is brakeable(see your datasheet)
+ */
+ MotorDriver(DigitalOut in1, DigitalOut in2, PwmOut pwm, float pwmFreq, bool isBrakeable = false);
+
+ /** Sets speed of motor normalized between -1.0 to 1.0
+ @param speed Value -1.0 to 1.0 (>0 CW at speed as percentage)
+ (<0 CCW at speed as percentage)
+ (=0 speed is zero)
+ @return state of the motor
+ NOTE: This method will NOT allow user to instantaneously swithch
+ from CW to CCW or vise versa. Doing so will cause the motor to
+ be put in to a BRAKE condition, while the motor_state.code will
+ be updated to MOTOR_ERROR. User should avoid trying to do this, call
+ first setSpeed(0) or brake().
+ */
+ State_t setSpeed(float speed);
+
+ /** Same as setSpeed(float speed), however does not impose the safety disallowing
+ instantaneous reversal of motor direction. It is up to the user to ensure they
+ do not blow up their motor.
+
+ @param speed How fast to run the motor
+ */
+ State_t forceSetSpeed(float speed);
+
+ /** Put motor into braked config
+ @param intensity How hard to brake (0.0 to 1.0)
+ @return state of the motors
+ */
+ State_t brake(float intensity);
+
+ /** Put motor into stop/coast config
+ */
+ State_t coast();
+
+ /** Get state of the motor
+ @return state of the motor
+ */
+ State_t getState();
+
+protected: // Protected so objects that inherit can access
+ State_t motor_state;
+ DigitalOut _in1;
+ DigitalOut _in2;
+ PwmOut _pwm;
+ bool isBrakeable;
+ void determineState(); // Determine motor state based on in1, in2, and pwm
};
#endif
\ No newline at end of file