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
Diff: main.cpp
- Revision:
- 0:81e41ea3f51a
- Child:
- 1:c9cf8a2fc829
diff -r 000000000000 -r 81e41ea3f51a main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Aug 28 19:38:19 2015 +0000 @@ -0,0 +1,127 @@ +/********************************************************************** +* 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; +}