KRTMI 2019 / Mbed 2 deprecated KontrolMotorManualJoystick

V1

Dependencies:   mbed

Motor.h@1:ed6ad03b86e4, 2019-04-16 (annotated)

Committer:
bernardusrendy
Date:
Tue Apr 16 12:54:03 2019 +0000
Revision:
1:ed6ad03b86e4
Parent:
0:96a0fbdff740 
hhhhh

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bernardusrendy 0:96a0fbdff740 1 /* mbed simple H-bridge motor controller
bernardusrendy 0:96a0fbdff740 2 * Copyright (c) 2007-2010, sford
bernardusrendy 0:96a0fbdff740 3 *
bernardusrendy 0:96a0fbdff740 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
bernardusrendy 0:96a0fbdff740 5 * of this software and associated documentation files (the "Software"), to deal
bernardusrendy 0:96a0fbdff740 6 * in the Software without restriction, including without limitation the rights
bernardusrendy 0:96a0fbdff740 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
bernardusrendy 0:96a0fbdff740 8 * copies of the Software, and to permit persons to whom the Software is
bernardusrendy 0:96a0fbdff740 9 * furnished to do so, subject to the following conditions:
bernardusrendy 0:96a0fbdff740 10 *
bernardusrendy 0:96a0fbdff740 11 * The above copyright notice and this permission notice shall be included in
bernardusrendy 0:96a0fbdff740 12 * all copies or substantial portions of the Software.
bernardusrendy 0:96a0fbdff740 13 *
bernardusrendy 0:96a0fbdff740 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
bernardusrendy 0:96a0fbdff740 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
bernardusrendy 0:96a0fbdff740 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
bernardusrendy 0:96a0fbdff740 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
bernardusrendy 0:96a0fbdff740 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
bernardusrendy 0:96a0fbdff740 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
bernardusrendy 0:96a0fbdff740 20 * THE SOFTWARE.
bernardusrendy 0:96a0fbdff740 21 */
bernardusrendy 0:96a0fbdff740 22
bernardusrendy 0:96a0fbdff740 23 #ifndef MBED_MOTOR_H
bernardusrendy 0:96a0fbdff740 24 #define MBED_MOTOR_H
bernardusrendy 0:96a0fbdff740 25
bernardusrendy 0:96a0fbdff740 26 #include "mbed.h"
bernardusrendy 0:96a0fbdff740 27
bernardusrendy 0:96a0fbdff740 28 #define BRAKE_HIGH 1
bernardusrendy 0:96a0fbdff740 29 #define BRAKE_LOW 0
bernardusrendy 0:96a0fbdff740 30
bernardusrendy 0:96a0fbdff740 31 /** Interface to control a standard DC motor
bernardusrendy 0:96a0fbdff740 32 * with an H-bridge using a PwmOut and 2 DigitalOuts
bernardusrendy 0:96a0fbdff740 33 */
bernardusrendy 0:96a0fbdff740 34 class Motor {
bernardusrendy 0:96a0fbdff740 35 public:
bernardusrendy 0:96a0fbdff740 36
bernardusrendy 0:96a0fbdff740 37 /** Create a motor control interface
bernardusrendy 0:96a0fbdff740 38 *
bernardusrendy 0:96a0fbdff740 39 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
bernardusrendy 0:96a0fbdff740 40 * @param fwd A DigitalOut, set high when the motor should go forward
bernardusrendy 0:96a0fbdff740 41 * @param rev A DigitalOut, set high when the motor should go backwards
bernardusrendy 0:96a0fbdff740 42 */
bernardusrendy 0:96a0fbdff740 43 Motor(PinName pwm, PinName fwd, PinName rev);
bernardusrendy 0:96a0fbdff740 44
bernardusrendy 0:96a0fbdff740 45 /** Set the speed of the motor
bernardusrendy 0:96a0fbdff740 46 *
bernardusrendy 0:96a0fbdff740 47 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
bernardusrendy 0:96a0fbdff740 48 */
bernardusrendy 0:96a0fbdff740 49 void speed(float speed);
bernardusrendy 0:96a0fbdff740 50
bernardusrendy 0:96a0fbdff740 51 /** Set the period of the pwm duty cycle.
bernardusrendy 0:96a0fbdff740 52 *
bernardusrendy 0:96a0fbdff740 53 * Wrapper for PwmOut::period()
bernardusrendy 0:96a0fbdff740 54 *
bernardusrendy 0:96a0fbdff740 55 * @param seconds - Pwm duty cycle in seconds.
bernardusrendy 0:96a0fbdff740 56 */
bernardusrendy 0:96a0fbdff740 57 void period(float period);
bernardusrendy 0:96a0fbdff740 58
bernardusrendy 0:96a0fbdff740 59 /** Brake the H-bridge to GND or VCC.
bernardusrendy 0:96a0fbdff740 60 *
bernardusrendy 0:96a0fbdff740 61 * Defaults to breaking to VCC.
bernardusrendy 0:96a0fbdff740 62 *
bernardusrendy 0:96a0fbdff740 63 * Brake to GND => inA = inB = 0
bernardusrendy 0:96a0fbdff740 64 * Brake to VCC => inA = inB = 1
bernardusrendy 0:96a0fbdff740 65 */
bernardusrendy 0:96a0fbdff740 66 void brake(int highLow = BRAKE_HIGH);
bernardusrendy 0:96a0fbdff740 67
bernardusrendy 0:96a0fbdff740 68 protected:
bernardusrendy 0:96a0fbdff740 69 PwmOut _pwm;
bernardusrendy 0:96a0fbdff740 70 DigitalOut _fwd;
bernardusrendy 0:96a0fbdff740 71 DigitalOut _rev;
bernardusrendy 0:96a0fbdff740 72
bernardusrendy 0:96a0fbdff740 73 };
bernardusrendy 0:96a0fbdff740 74
bernardusrendy 0:96a0fbdff740 75 #endif