Functional test program for MAXREFDES89# that ramps each motor driver output up/down and in each direction sequentially. Uses default configuration, i.e. pwm signals are on D4, D5, D9 and D10 along with default I2C addresses for supporting I.C.s.
Dependencies: MAX14871_Shield mbed
main.cpp
- Committer:
- j3
- Date:
- 2015-08-28
- Revision:
- 0:81e41ea3f51a
- Child:
- 1:c9cf8a2fc829
File content as of revision 0:81e41ea3f51a:
/********************************************************************** * Copyright (C) 2015 Maxim Integrated Products, Inc., All Rights Reserved. * * 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 to use, copy, modify, merge, publish, distribute, sublicense, * and/or sell copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included * in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. * IN NO EVENT SHALL MAXIM INTEGRATED BE LIABLE FOR ANY CLAIM, DAMAGES * OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR * OTHER DEALINGS IN THE SOFTWARE. * * Except as contained in this notice, the name of Maxim Integrated * Products, Inc. shall not be used except as stated in the Maxim Integrated * Products, Inc. Branding Policy. * * The mere transfer of this software does not imply any licenses * of trade secrets, proprietary technology, copyrights, patents, * trademarks, maskwork rights, or any other form of intellectual * property whatsoever. Maxim Integrated Products, Inc. retains all * ownership rights. **********************************************************************/ #include "mbed.h" #include "max14871_shield.h" int main(void) { uint8_t idx = 0; const uint8_t DELAY = 50; const float VREF = 2.0f; const float PWM_PERIOD = 0.000025f; //40KHz float pwm_duty_cycle = 0.0f; Max14871_Shield shld(D14, D15, true); Max14871_Shield::max14871_motor_driver_t MD_ARRAY[] = {Max14871_Shield::MD1, Max14871_Shield::MD2, Max14871_Shield::MD3, Max14871_Shield::MD4}; //configure motor drivers for(idx = 0; idx < 4; idx++) { shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); shld.set_pwm_period(MD_ARRAY[idx], PWM_PERIOD); shld.set_current_regulation_mode(MD_ARRAY[idx], Max14871_Shield::RIPPLE_25_EXTERNAL_REF, VREF); shld.set_operating_mode(MD_ARRAY[idx], Max14871_Shield::BRAKE); } for(idx = 0; idx < 4; idx++) { shld.set_operating_mode(MD_ARRAY[idx], Max14871_Shield::FORWARD); //Ramp up printf("Ramping up Forward, MD = %d\n", MD_ARRAY[idx]); for(pwm_duty_cycle = 0.0; pwm_duty_cycle < 1.0f; pwm_duty_cycle += 0.1f) { printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); wait_ms(DELAY); } //100% duty cycle printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); wait_ms(DELAY); //Ramp down printf("Ramping down Forward, MD = %d\n", MD_ARRAY[idx]); for(pwm_duty_cycle = 1.0; pwm_duty_cycle > 0.0f; pwm_duty_cycle -= 0.1f) { printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); wait_ms(DELAY); } //0% duty cycle printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); wait_ms(DELAY); shld.set_operating_mode(MD_ARRAY[idx], Max14871_Shield::REVERSE); //Ramp up printf("Ramping up Reverse, MD = %d\n", MD_ARRAY[idx]); for(pwm_duty_cycle = 0.0; pwm_duty_cycle < 1.0f; pwm_duty_cycle += 0.1f) { printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); wait_ms(DELAY); } //100% duty cycle printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); wait_ms(DELAY); //Ramp down printf("Ramping down Reverse, MD = %d\n", MD_ARRAY[idx]); for(pwm_duty_cycle = 1.0f; pwm_duty_cycle > 0.0f; pwm_duty_cycle -= 0.1f) { printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); wait_ms(DELAY); } //0% duty cycle printf("Duty Cycle = %0.2f\n", pwm_duty_cycle); shld.set_pwm_duty_cycle(MD_ARRAY[idx], pwm_duty_cycle); wait_ms(DELAY); shld.set_operating_mode(MD_ARRAY[idx], Max14871_Shield::COAST); } return 0; }