![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Library version for DC_Stepper_Controller_Lib with PWM speed control
Dependents: DR-ArmServoTest Auto_DC_pick_class MBed_TR1 ros_button_2021
DC_Motor_Controller.cpp
- Committer:
- stivending
- Date:
- 2021-05-25
- Revision:
- 10:fe56f6800a72
- Parent:
- 9:49b59b308767
- Child:
- 11:e880912260b5
File content as of revision 10:fe56f6800a72:
#include "DC_Motor_Controller.h" //************************************************// // COMMENT NEXT LINE TO ENABLE/DISABLE DEBUG MODE // // // #define DEBUG_MODE // // // //************************************************// DC_Motor_Controller::DC_Motor_Controller(PinName out_M1, PinName out_M2, PinName in_A, PinName in_B, int PPR) : out1(out_M1), out2(out_M2), dc_motor(in_A, in_B, NC, PPR) { out1.period(0.002); out2.period(0.002); } void DC_Motor_Controller::goto_pulse(int tar_pulse, float speed){ // Move motor to specific angle from home point int cur_pulse = dc_motor.getPulses(); int direction = 0; #ifdef DEBUG_MODE Serial device(USBTX, USBRX); // tx, rx device.baud(9600); device.printf("\n------ current %d -> target %d -----\n", cur_pulse, tar_pulse); #endif while ( tar_pulse != cur_pulse ){ direction = tar_pulse > cur_pulse; // cw 1 ; acw 0 // if margin of error is less than +-3 (+- 1 degree), give up if(abs(tar_pulse - cur_pulse) < 10) { #ifdef DEBUG_MODE device.printf("GIVEUP "); #endif break; } // future direction diff from current motion, pause for 0.5 to prevent unexpected outputs else if (direction != (out1 > 0)) { out1 = out2 = 0; #ifdef DEBUG_MODE device.printf("PAUSE "); #endif wait(0.3); } out1 = direction * speed; out2 = !direction * speed; cur_pulse = dc_motor.getPulses(); // Get increment encoder current pulse number #ifdef DEBUG_MODE device.printf("%d ", cur_pulse); #endif } #ifdef DEBUG_MODE device.printf("\n----- done -----\n"); #endif out1 = 0; // Stop motor out2 = 0; }; void DC_Motor_Controller::goto_angle(int angle, float speed){ // Move motor to specific angle from home point goto_pulse(((double) angle / 360.0)* (2.0 * 792.0), speed); // Calculating target pulse number }; void DC_Motor_Controller::reset(){ // Setting home point for increment encoder out1 = 0; out2 = 0; dc_motor.reset(); // Reset pulse_ wait(0.3); }; void DC_Motor_Controller::move_angle(int angle, float speed){ // move for relative distance goto_pulse(get_pulse() + ((double) angle / 360.0)* (2.0 * 792.0), speed); }; void DC_Motor_Controller::set_out(float a, float b) { out1 = a; out2 = b; } int DC_Motor_Controller::get_pulse() { return dc_motor.getPulses(); }