Diff: Drivers/motor_driver_r.cpp

Revision:

9:fe56b888985c

Child:

24:e88753f090b8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Drivers/motor_driver_r.cpp	Fri Feb 23 20:58:34 2018 +0000
@@ -0,0 +1,111 @@
+/******************************************************************************/
+// ECE4333
+// LAB Partner 1:   Ahmed Sobhy - ID: 3594449
+// LAB Partner 2:   Brandon Kingman - ID: 3470444
+// Project:         Autonomous Robot Design
+// Instructor:      Prof. Chris Diduch
+/******************************************************************************/
+// filename: motor_driver.cpp
+// file content description:
+//      * function to initialize the hardware used to control a DC Motor
+//      * functions to drive to motor in forward, reverse and stop.
+/******************************************************************************/
+
+#include "mbed.h"
+#include "motor_driver_r.h"
+
+
+
+DigitalOut DirR(p29);    // Right motor direction control pin
+PwmOut PwmR(p21);       // Right motor PWMz
+
+Mutex SpeedMutexR;
+
+static motor_state_t motor_status = MOTOR_UNINIT;
+
+
+/*******************************************************************************
+* @brief  This function initializes the PWM channel to be used to control a DC
+*         motor
+* @param  none
+* @return motor_state_t the state of the motor driver
+*******************************************************************************/
+motor_state_t motorDriver_R_init()
+{
+    // motor is still uninitialized
+    motor_status = MOTOR_UNINIT;
+
+    // DC Motor Control Pins
+    DirR = 0;
+    PwmR = 0;
+
+    PwmR.period_us(PERIOD_R); // This sets the PWM period in us
+
+
+    motor_status = MOTOR_INIT;
+
+    return motor_status;
+
+}
+
+/*******************************************************************************
+* @brief  This function sets the speed and the direction of the DC motor to move
+*         forward
+* @param  speed
+* @return motor_state_t the state of the motor driver
+*******************************************************************************/
+motor_state_t motorDriver_R_forward(int speed)
+{
+
+    if( motor_status != MOTOR_UNINIT ) 
+    {
+        SpeedMutexR.lock();
+        DirR = 0;
+        PwmR.pulsewidth_us(abs(speed));
+        SpeedMutexR.unlock();
+        motor_status = MOTOR_FORWARD;
+    }
+
+    return motor_status;
+
+}
+
+/*******************************************************************************
+* @brief  This function sets the speed and the direction of the DC motor to move
+*         backwards
+* @param  speed
+* @return motor_state_t the state of the motor driver
+*******************************************************************************/
+motor_state_t motorDriver_R_reverse(int speed)
+{
+
+    if( motor_status != MOTOR_UNINIT ) 
+    {
+        SpeedMutexR.lock();
+        DirR = 1;
+        PwmR.pulsewidth_us(abs(speed));
+        SpeedMutexR.unlock();
+        motor_status = MOTOR_REVERSE;
+    }
+
+    return motor_status;
+
+}
+
+/*******************************************************************************
+* @brief  This function stops the motor
+* @param  none
+* @return motor_state_t the state of the motor driver
+*******************************************************************************/
+motor_state_t motorDriver_R_stop()
+{
+    
+    if( motor_status != MOTOR_UNINIT ) 
+    {
+        PwmR.pulsewidth_us(0);
+        motor_status = MOTOR_STOPPED;
+    }
+
+    return motor_status;
+
+}