ArduMotoShield.cpp

00001 /* 
00002 Simple library for the SparkFun Ardumoto Shield https://www.sparkfun.com/products/9815
00003 with the ST Nucleo F401RE
00004  
00005 The SparkFun Ardumoto shield can control two DC motors (up to 2 amps per motor). It is based on the L298 H-bridge. 
00006 
00007 Developped by : Didier Donsez & Jérome Maisonnasse
00008  
00009  License: CC-SA 3.0, feel free to use this code however you'd like.
00010  Please improve upon it! Let me know how you've made it better.
00011  
00012  This is really simple example code to get you some basic functionality with the Ardumoto Shield.
00013  
00014  */
00015 
00016 #include "ArduMotoShield.h"
00017 #include "mbed.h"
00018 
00019 // depend of the Vin and the max voltage of the motors
00020 float MAXPWM = 0.5f;
00021                 
00022 
00023 BusOut inApin(D11,D12); //direction control for motor outputs 1 and 2 is on digital pin 12
00024 BusOut inBpin(D13,D14); //direction control for motor outputs 3 and 4 is on digital pin 13
00025 PwmOut pwmApin(D3); //PWM control for motor outputs 1 and 2 is on digital pin 3
00026 PwmOut pwmBpin(D11); //PWM control for motor outputs 3 and 4 is on digital pin 11
00027 
00028 bool isSetup=false;
00029 
00030 void ArduMotoShield::setVoltages(float vin, float vmaxmotor)
00031 {  
00032 
00033     if(vin<vmaxmotor)
00034         MAXPWM=1.0f;
00035     else
00036         MAXPWM=vmaxmotor/vin;
00037 }
00038 
00039 
00040 void ArduMotoShield::setup()
00041 {  
00042     pwmApin.period_ms(10);
00043     pwmApin.pulsewidth_ms(1);
00044     pwmApin.write(0.0f);
00045 
00046     pwmBpin.period_ms(10);
00047     pwmBpin.pulsewidth_ms(1);  
00048     pwmBpin.write(0.0f);
00049     
00050     isSetup=true;        
00051 }
00052 
00053 // Basic ArduMotoShield operations
00054 
00055 void ArduMotoShield::forward() //full speed forward
00056 { 
00057         if(!isSetup) setup();
00058 
00059         inApin=1;
00060         inBpin=1;
00061         pwmApin.write(MAXPWM);
00062         pwmBpin.write(MAXPWM);
00063         printf("Forward\n");
00064 }
00065 
00066 void ArduMotoShield::backward() //full speed backward
00067 {
00068         if(!isSetup) setup();
00069 
00070         inApin=2;
00071         inBpin=2;
00072         pwmApin.write(MAXPWM);
00073         pwmBpin.write(MAXPWM);
00074         printf("Backward\n");
00075 }
00076 
00077 void ArduMotoShield::stop()
00078 {
00079         if(!isSetup) setup();
00080 
00081         inApin=0;
00082         inBpin=0;
00083         pwmApin.write(0.0f);
00084         pwmBpin.write(0.0f);
00085         printf("Stop\n");
00086 }
00087 
00088 void ArduMotoShield::right()
00089 {
00090         if(!isSetup) setup();
00091 
00092         inApin=2;
00093         inBpin=1;
00094         pwmApin.write(MAXPWM);
00095         pwmBpin.write(MAXPWM);
00096         printf("Right\n");
00097 }
00098 
00099 void ArduMotoShield::left()
00100 {
00101         if(!isSetup) setup();
00102 
00103         inApin=1;
00104         inBpin=2;
00105         pwmApin.write(MAXPWM);
00106         pwmBpin.write(MAXPWM);
00107         printf("Left\n");
00108 }