ECE4333 - 2018 - Ahmed & Brandon / Mbed OS ManualControlFinal

ManualControl

Dependencies:   TPixy-Interface

Fork of MbedOS_Robot_Team by ECE4333 - 2018 - Ahmed & Brandon

Drivers/motor_driver_r.cpp@9:fe56b888985c, 2018-02-23 (annotated)

Committer:
asobhy
Date:
Fri Feb 23 20:58:34 2018 +0000
Revision:
9:fe56b888985c
Child:
24:e88753f090b8
right after the two motors are running

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asobhy 9:fe56b888985c 1 /******************************************************************************/
asobhy 9:fe56b888985c 2 // ECE4333
asobhy 9:fe56b888985c 3 // LAB Partner 1: Ahmed Sobhy - ID: 3594449
asobhy 9:fe56b888985c 4 // LAB Partner 2: Brandon Kingman - ID: 3470444
asobhy 9:fe56b888985c 5 // Project: Autonomous Robot Design
asobhy 9:fe56b888985c 6 // Instructor: Prof. Chris Diduch
asobhy 9:fe56b888985c 7 /******************************************************************************/
asobhy 9:fe56b888985c 8 // filename: motor_driver.cpp
asobhy 9:fe56b888985c 9 // file content description:
asobhy 9:fe56b888985c 10 // * function to initialize the hardware used to control a DC Motor
asobhy 9:fe56b888985c 11 // * functions to drive to motor in forward, reverse and stop.
asobhy 9:fe56b888985c 12 /******************************************************************************/
asobhy 9:fe56b888985c 13
asobhy 9:fe56b888985c 14 #include "mbed.h"
asobhy 9:fe56b888985c 15 #include "motor_driver_r.h"
asobhy 9:fe56b888985c 16
asobhy 9:fe56b888985c 17
asobhy 9:fe56b888985c 18
asobhy 9:fe56b888985c 19 DigitalOut DirR(p29); // Right motor direction control pin
asobhy 9:fe56b888985c 20 PwmOut PwmR(p21); // Right motor PWMz
asobhy 9:fe56b888985c 21
asobhy 9:fe56b888985c 22 Mutex SpeedMutexR;
asobhy 9:fe56b888985c 23
asobhy 9:fe56b888985c 24 static motor_state_t motor_status = MOTOR_UNINIT;
asobhy 9:fe56b888985c 25
asobhy 9:fe56b888985c 26
asobhy 9:fe56b888985c 27 /*******************************************************************************
asobhy 9:fe56b888985c 28 * @brief This function initializes the PWM channel to be used to control a DC
asobhy 9:fe56b888985c 29 * motor
asobhy 9:fe56b888985c 30 * @param none
asobhy 9:fe56b888985c 31 * @return motor_state_t the state of the motor driver
asobhy 9:fe56b888985c 32 *******************************************************************************/
asobhy 9:fe56b888985c 33 motor_state_t motorDriver_R_init()
asobhy 9:fe56b888985c 34 {
asobhy 9:fe56b888985c 35 // motor is still uninitialized
asobhy 9:fe56b888985c 36 motor_status = MOTOR_UNINIT;
asobhy 9:fe56b888985c 37
asobhy 9:fe56b888985c 38 // DC Motor Control Pins
asobhy 9:fe56b888985c 39 DirR = 0;
asobhy 9:fe56b888985c 40 PwmR = 0;
asobhy 9:fe56b888985c 41
asobhy 9:fe56b888985c 42 PwmR.period_us(PERIOD_R); // This sets the PWM period in us
asobhy 9:fe56b888985c 43
asobhy 9:fe56b888985c 44
asobhy 9:fe56b888985c 45 motor_status = MOTOR_INIT;
asobhy 9:fe56b888985c 46
asobhy 9:fe56b888985c 47 return motor_status;
asobhy 9:fe56b888985c 48
asobhy 9:fe56b888985c 49 }
asobhy 9:fe56b888985c 50
asobhy 9:fe56b888985c 51 /*******************************************************************************
asobhy 9:fe56b888985c 52 * @brief This function sets the speed and the direction of the DC motor to move
asobhy 9:fe56b888985c 53 * forward
asobhy 9:fe56b888985c 54 * @param speed
asobhy 9:fe56b888985c 55 * @return motor_state_t the state of the motor driver
asobhy 9:fe56b888985c 56 *******************************************************************************/
asobhy 9:fe56b888985c 57 motor_state_t motorDriver_R_forward(int speed)
asobhy 9:fe56b888985c 58 {
asobhy 9:fe56b888985c 59
asobhy 9:fe56b888985c 60 if( motor_status != MOTOR_UNINIT )
asobhy 9:fe56b888985c 61 {
asobhy 9:fe56b888985c 62 SpeedMutexR.lock();
asobhy 9:fe56b888985c 63 DirR = 0;
asobhy 9:fe56b888985c 64 PwmR.pulsewidth_us(abs(speed));
asobhy 9:fe56b888985c 65 SpeedMutexR.unlock();
asobhy 9:fe56b888985c 66 motor_status = MOTOR_FORWARD;
asobhy 9:fe56b888985c 67 }
asobhy 9:fe56b888985c 68
asobhy 9:fe56b888985c 69 return motor_status;
asobhy 9:fe56b888985c 70
asobhy 9:fe56b888985c 71 }
asobhy 9:fe56b888985c 72
asobhy 9:fe56b888985c 73 /*******************************************************************************
asobhy 9:fe56b888985c 74 * @brief This function sets the speed and the direction of the DC motor to move
asobhy 9:fe56b888985c 75 * backwards
asobhy 9:fe56b888985c 76 * @param speed
asobhy 9:fe56b888985c 77 * @return motor_state_t the state of the motor driver
asobhy 9:fe56b888985c 78 *******************************************************************************/
asobhy 9:fe56b888985c 79 motor_state_t motorDriver_R_reverse(int speed)
asobhy 9:fe56b888985c 80 {
asobhy 9:fe56b888985c 81
asobhy 9:fe56b888985c 82 if( motor_status != MOTOR_UNINIT )
asobhy 9:fe56b888985c 83 {
asobhy 9:fe56b888985c 84 SpeedMutexR.lock();
asobhy 9:fe56b888985c 85 DirR = 1;
asobhy 9:fe56b888985c 86 PwmR.pulsewidth_us(abs(speed));
asobhy 9:fe56b888985c 87 SpeedMutexR.unlock();
asobhy 9:fe56b888985c 88 motor_status = MOTOR_REVERSE;
asobhy 9:fe56b888985c 89 }
asobhy 9:fe56b888985c 90
asobhy 9:fe56b888985c 91 return motor_status;
asobhy 9:fe56b888985c 92
asobhy 9:fe56b888985c 93 }
asobhy 9:fe56b888985c 94
asobhy 9:fe56b888985c 95 /*******************************************************************************
asobhy 9:fe56b888985c 96 * @brief This function stops the motor
asobhy 9:fe56b888985c 97 * @param none
asobhy 9:fe56b888985c 98 * @return motor_state_t the state of the motor driver
asobhy 9:fe56b888985c 99 *******************************************************************************/
asobhy 9:fe56b888985c 100 motor_state_t motorDriver_R_stop()
asobhy 9:fe56b888985c 101 {
asobhy 9:fe56b888985c 102
asobhy 9:fe56b888985c 103 if( motor_status != MOTOR_UNINIT )
asobhy 9:fe56b888985c 104 {
asobhy 9:fe56b888985c 105 PwmR.pulsewidth_us(0);
asobhy 9:fe56b888985c 106 motor_status = MOTOR_STOPPED;
asobhy 9:fe56b888985c 107 }
asobhy 9:fe56b888985c 108
asobhy 9:fe56b888985c 109 return motor_status;
asobhy 9:fe56b888985c 110
asobhy 9:fe56b888985c 111 }