Magang KRTMI / Mbed 2 deprecated Kontrol_DanielRiyanto_16518296

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Dependencies:   mbed

Magang KRTMI Day 1

Motor.h@0:7fa27a02504b, 2019-03-20 (annotated)

Committer:
D4n1elR
Date:
Wed Mar 20 15:30:12 2019 +0000
Revision:
0:7fa27a02504b
Kelarrr

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D4n1elR 0:7fa27a02504b 1 /* mbed simple H-bridge motor controller
D4n1elR 0:7fa27a02504b 2 * Copyright (c) 2007-2010, sford
D4n1elR 0:7fa27a02504b 3 *
D4n1elR 0:7fa27a02504b 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
D4n1elR 0:7fa27a02504b 5 * of this software and associated documentation files (the "Software"), to deal
D4n1elR 0:7fa27a02504b 6 * in the Software without restriction, including without limitation the rights
D4n1elR 0:7fa27a02504b 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
D4n1elR 0:7fa27a02504b 8 * copies of the Software, and to permit persons to whom the Software is
D4n1elR 0:7fa27a02504b 9 * furnished to do so, subject to the following conditions:
D4n1elR 0:7fa27a02504b 10 *
D4n1elR 0:7fa27a02504b 11 * The above copyright notice and this permission notice shall be included in
D4n1elR 0:7fa27a02504b 12 * all copies or substantial portions of the Software.
D4n1elR 0:7fa27a02504b 13 *
D4n1elR 0:7fa27a02504b 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
D4n1elR 0:7fa27a02504b 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
D4n1elR 0:7fa27a02504b 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
D4n1elR 0:7fa27a02504b 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
D4n1elR 0:7fa27a02504b 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
D4n1elR 0:7fa27a02504b 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
D4n1elR 0:7fa27a02504b 20 * THE SOFTWARE.
D4n1elR 0:7fa27a02504b 21 */
D4n1elR 0:7fa27a02504b 22
D4n1elR 0:7fa27a02504b 23 #ifndef MBED_MOTOR_H
D4n1elR 0:7fa27a02504b 24 #define MBED_MOTOR_H
D4n1elR 0:7fa27a02504b 25
D4n1elR 0:7fa27a02504b 26 #include "mbed.h"
D4n1elR 0:7fa27a02504b 27
D4n1elR 0:7fa27a02504b 28 #define BRAKE_HIGH 1
D4n1elR 0:7fa27a02504b 29 #define BRAKE_LOW 0
D4n1elR 0:7fa27a02504b 30
D4n1elR 0:7fa27a02504b 31 /** Interface to control a standard DC motor
D4n1elR 0:7fa27a02504b 32 * with an H-bridge using a PwmOut and 2 DigitalOuts
D4n1elR 0:7fa27a02504b 33 */
D4n1elR 0:7fa27a02504b 34 class Motor {
D4n1elR 0:7fa27a02504b 35 public:
D4n1elR 0:7fa27a02504b 36
D4n1elR 0:7fa27a02504b 37 /** Create a motor control interface
D4n1elR 0:7fa27a02504b 38 *
D4n1elR 0:7fa27a02504b 39 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
D4n1elR 0:7fa27a02504b 40 * @param fwd A DigitalOut, set high when the motor should go forward
D4n1elR 0:7fa27a02504b 41 * @param rev A DigitalOut, set high when the motor should go backwards
D4n1elR 0:7fa27a02504b 42 */
D4n1elR 0:7fa27a02504b 43 Motor(PinName pwm, PinName fwd, PinName rev);
D4n1elR 0:7fa27a02504b 44
D4n1elR 0:7fa27a02504b 45 /** Set the speed of the motor
D4n1elR 0:7fa27a02504b 46 *
D4n1elR 0:7fa27a02504b 47 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
D4n1elR 0:7fa27a02504b 48 */
D4n1elR 0:7fa27a02504b 49 void speed(float speed);
D4n1elR 0:7fa27a02504b 50
D4n1elR 0:7fa27a02504b 51 /** Set the period of the pwm duty cycle.
D4n1elR 0:7fa27a02504b 52 *
D4n1elR 0:7fa27a02504b 53 * Wrapper for PwmOut::period()
D4n1elR 0:7fa27a02504b 54 *
D4n1elR 0:7fa27a02504b 55 * @param seconds - Pwm duty cycle in seconds.
D4n1elR 0:7fa27a02504b 56 */
D4n1elR 0:7fa27a02504b 57 void period(float period);
D4n1elR 0:7fa27a02504b 58
D4n1elR 0:7fa27a02504b 59 /** Brake the H-bridge to GND or VCC.
D4n1elR 0:7fa27a02504b 60 *
D4n1elR 0:7fa27a02504b 61 * Defaults to breaking to VCC.
D4n1elR 0:7fa27a02504b 62 *
D4n1elR 0:7fa27a02504b 63 * Brake to GND => inA = inB = 0
D4n1elR 0:7fa27a02504b 64 * Brake to VCC => inA = inB = 1
D4n1elR 0:7fa27a02504b 65 */
D4n1elR 0:7fa27a02504b 66 void brake(int highLow = BRAKE_HIGH);
D4n1elR 0:7fa27a02504b 67
D4n1elR 0:7fa27a02504b 68 /**
D4n1elR 0:7fa27a02504b 69 *Brake lebih baik
D4n1elR 0:7fa27a02504b 70 **/
D4n1elR 0:7fa27a02504b 71 void forcebrake();
D4n1elR 0:7fa27a02504b 72
D4n1elR 0:7fa27a02504b 73 protected:
D4n1elR 0:7fa27a02504b 74 PwmOut _pwm;
D4n1elR 0:7fa27a02504b 75 DigitalOut _fwd;
D4n1elR 0:7fa27a02504b 76 DigitalOut _rev;
D4n1elR 0:7fa27a02504b 77
D4n1elR 0:7fa27a02504b 78 };
D4n1elR 0:7fa27a02504b 79
D4n1elR 0:7fa27a02504b 80 #endif
D4n1elR 0:7fa27a02504b 81