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;
+}