offer some APIs to control the movement of motor. Suitable with Seeed motor shield
Fork of MotorDriver by
MotorDriver.h@1:9c93f514f369, 2014-02-12 (annotated)
- Committer:
- lawliet
- Date:
- Wed Feb 12 03:07:34 2014 +0000
- Revision:
- 1:9c93f514f369
- Parent:
- 0:6bd25809e2e0
update documents
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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lawliet | 0:6bd25809e2e0 | 1 | /* |
lawliet | 0:6bd25809e2e0 | 2 | MotorDriver.h |
lawliet | 0:6bd25809e2e0 | 3 | 2014 Copyright (c) Seeed Technology Inc. All right reserved. |
lawliet | 0:6bd25809e2e0 | 4 | |
lawliet | 0:6bd25809e2e0 | 5 | Author:lawliet.zou@gmail.com |
lawliet | 0:6bd25809e2e0 | 6 | 2014-02-11 |
lawliet | 0:6bd25809e2e0 | 7 | |
lawliet | 0:6bd25809e2e0 | 8 | This library is free software; you can redistribute it and/or |
lawliet | 0:6bd25809e2e0 | 9 | modify it under the terms of the GNU Lesser General Public |
lawliet | 0:6bd25809e2e0 | 10 | License as published by the Free Software Foundation; either |
lawliet | 0:6bd25809e2e0 | 11 | version 2.1 of the License, or (at your option) any later version. |
lawliet | 0:6bd25809e2e0 | 12 | |
lawliet | 0:6bd25809e2e0 | 13 | This library is distributed in the hope that it will be useful, |
lawliet | 0:6bd25809e2e0 | 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
lawliet | 0:6bd25809e2e0 | 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
lawliet | 0:6bd25809e2e0 | 16 | Lesser General Public License for more details. |
lawliet | 0:6bd25809e2e0 | 17 | |
lawliet | 0:6bd25809e2e0 | 18 | You should have received a copy of the GNU Lesser General Public |
lawliet | 0:6bd25809e2e0 | 19 | License along with this library; if not, write to the Free Software |
lawliet | 0:6bd25809e2e0 | 20 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
lawliet | 0:6bd25809e2e0 | 21 | */ |
lawliet | 0:6bd25809e2e0 | 22 | #ifndef __MOTORDRIVER_H__ |
lawliet | 0:6bd25809e2e0 | 23 | #define __MOTORDRIVER_H__ |
lawliet | 0:6bd25809e2e0 | 24 | |
lawliet | 0:6bd25809e2e0 | 25 | #include "mbed.h" |
lawliet | 0:6bd25809e2e0 | 26 | #include "SoftwarePWM.h" |
lawliet | 0:6bd25809e2e0 | 27 | |
lawliet | 0:6bd25809e2e0 | 28 | /**************Motor ID**********************/ |
lawliet | 0:6bd25809e2e0 | 29 | #define MOTORA 0 |
lawliet | 0:6bd25809e2e0 | 30 | #define MOTORB 1 |
lawliet | 0:6bd25809e2e0 | 31 | |
lawliet | 0:6bd25809e2e0 | 32 | #define LOW 0 |
lawliet | 0:6bd25809e2e0 | 33 | #define HIGH 1 |
lawliet | 0:6bd25809e2e0 | 34 | |
lawliet | 0:6bd25809e2e0 | 35 | #define MOTOR_POSITION_LEFT 0 |
lawliet | 0:6bd25809e2e0 | 36 | #define MOTOR_POSITION_RIGHT 1 |
lawliet | 0:6bd25809e2e0 | 37 | #define MOTOR_CLOCKWISE 0 |
lawliet | 0:6bd25809e2e0 | 38 | #define MOTOR_ANTICLOCKWISE 1 |
lawliet | 0:6bd25809e2e0 | 39 | |
lawliet | 0:6bd25809e2e0 | 40 | #define USE_DC_MOTOR 0 |
lawliet | 0:6bd25809e2e0 | 41 | |
lawliet | 0:6bd25809e2e0 | 42 | #define MOTOR_PERIOD 10000 //10ms |
lawliet | 0:6bd25809e2e0 | 43 | |
lawliet | 0:6bd25809e2e0 | 44 | struct MotorStruct { |
lawliet | 0:6bd25809e2e0 | 45 | uint8_t speed; |
lawliet | 0:6bd25809e2e0 | 46 | uint8_t direction; |
lawliet | 0:6bd25809e2e0 | 47 | uint8_t position; |
lawliet | 0:6bd25809e2e0 | 48 | }; |
lawliet | 0:6bd25809e2e0 | 49 | |
lawliet | 0:6bd25809e2e0 | 50 | /** Motor Driver class. |
lawliet | 0:6bd25809e2e0 | 51 | * offer API to control the movement of motor |
lawliet | 0:6bd25809e2e0 | 52 | */ |
lawliet | 0:6bd25809e2e0 | 53 | class MotorDriver |
lawliet | 0:6bd25809e2e0 | 54 | { |
lawliet | 0:6bd25809e2e0 | 55 | |
lawliet | 0:6bd25809e2e0 | 56 | public: |
lawliet | 0:6bd25809e2e0 | 57 | |
lawliet | 0:6bd25809e2e0 | 58 | /** Create Motor Driver instance |
lawliet | 0:6bd25809e2e0 | 59 | * @param int1 pin 1 of motor movement control |
lawliet | 0:6bd25809e2e0 | 60 | * @param int2 pin 2 of motor movement control |
lawliet | 0:6bd25809e2e0 | 61 | * @param int3 pin 3 of motor movement control |
lawliet | 0:6bd25809e2e0 | 62 | * @param int4 pin 4 of motor movement control |
lawliet | 0:6bd25809e2e0 | 63 | @param speedA speed control of motorA |
lawliet | 0:6bd25809e2e0 | 64 | @param speedB speed control of motorB |
lawliet | 0:6bd25809e2e0 | 65 | */ |
lawliet | 0:6bd25809e2e0 | 66 | MotorDriver(PinName int1, PinName int2, PinName int3, PinName int4, PinName speedA, PinName speedB):_int1(int1),_int2(int2),_int3(int3),_int4(int4),_speedA(speedA),_speedB(speedB) { |
lawliet | 0:6bd25809e2e0 | 67 | _int1 = 0; |
lawliet | 0:6bd25809e2e0 | 68 | _int2 = 0; |
lawliet | 0:6bd25809e2e0 | 69 | _int3 = 0; |
lawliet | 0:6bd25809e2e0 | 70 | _int4 = 0; |
lawliet | 0:6bd25809e2e0 | 71 | }; |
lawliet | 0:6bd25809e2e0 | 72 | |
lawliet | 0:6bd25809e2e0 | 73 | /** set motor to initialized state |
lawliet | 0:6bd25809e2e0 | 74 | */ |
lawliet | 0:6bd25809e2e0 | 75 | void init(); |
lawliet | 0:6bd25809e2e0 | 76 | |
lawliet | 0:6bd25809e2e0 | 77 | /** config position of motor |
lawliet | 0:6bd25809e2e0 | 78 | * @param position the position set to motor,MOTOR_POSITION_LEFT or MOTOR_POSITION_RIGHT will be allowed |
lawliet | 0:6bd25809e2e0 | 79 | * @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB |
lawliet | 0:6bd25809e2e0 | 80 | */ |
lawliet | 0:6bd25809e2e0 | 81 | void configure(uint8_t position, uint8_t motorID); |
lawliet | 0:6bd25809e2e0 | 82 | |
lawliet | 0:6bd25809e2e0 | 83 | /** set speed of motor |
lawliet | 0:6bd25809e2e0 | 84 | * @param speed speed value set to motor, [0,100] will be allowed |
lawliet | 0:6bd25809e2e0 | 85 | * @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB |
lawliet | 0:6bd25809e2e0 | 86 | */ |
lawliet | 0:6bd25809e2e0 | 87 | void setSpeed(uint8_t speed, uint8_t motorID); |
lawliet | 0:6bd25809e2e0 | 88 | |
lawliet | 0:6bd25809e2e0 | 89 | /** set direction of motor, |
lawliet | 0:6bd25809e2e0 | 90 | * @param direction the direction of motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed |
lawliet | 0:6bd25809e2e0 | 91 | * @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB |
lawliet | 0:6bd25809e2e0 | 92 | */ |
lawliet | 0:6bd25809e2e0 | 93 | void setDirection(uint8_t direction, uint8_t motorID); |
lawliet | 0:6bd25809e2e0 | 94 | |
lawliet | 0:6bd25809e2e0 | 95 | /** rotate motor |
lawliet | 0:6bd25809e2e0 | 96 | * @param direction the direction set to motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed |
lawliet | 0:6bd25809e2e0 | 97 | * @param motor_position the position set to motor,MOTOR_POSITION_LEFT or MOTOR_POSITION_RIGHT will be allowed |
lawliet | 0:6bd25809e2e0 | 98 | */ |
lawliet | 0:6bd25809e2e0 | 99 | void rotate(uint8_t direction, uint8_t motor_position); |
lawliet | 0:6bd25809e2e0 | 100 | |
lawliet | 0:6bd25809e2e0 | 101 | /** rotate motorA or motorB |
lawliet | 0:6bd25809e2e0 | 102 | * @param direction the direction set to motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed |
lawliet | 0:6bd25809e2e0 | 103 | * @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB |
lawliet | 0:6bd25809e2e0 | 104 | */ |
lawliet | 0:6bd25809e2e0 | 105 | void rotateWithID(uint8_t direction, uint8_t motorID); |
lawliet | 0:6bd25809e2e0 | 106 | |
lawliet | 0:6bd25809e2e0 | 107 | /** make motor go forward |
lawliet | 0:6bd25809e2e0 | 108 | */ |
lawliet | 0:6bd25809e2e0 | 109 | void goForward(); |
lawliet | 0:6bd25809e2e0 | 110 | |
lawliet | 0:6bd25809e2e0 | 111 | /** make motor go backward |
lawliet | 0:6bd25809e2e0 | 112 | */ |
lawliet | 0:6bd25809e2e0 | 113 | void goBackward(); |
lawliet | 0:6bd25809e2e0 | 114 | |
lawliet | 0:6bd25809e2e0 | 115 | /** make motor go left |
lawliet | 0:6bd25809e2e0 | 116 | */ |
lawliet | 0:6bd25809e2e0 | 117 | void goLeft(); |
lawliet | 0:6bd25809e2e0 | 118 | |
lawliet | 0:6bd25809e2e0 | 119 | /** make motor go right |
lawliet | 0:6bd25809e2e0 | 120 | */ |
lawliet | 0:6bd25809e2e0 | 121 | void goRight(); |
lawliet | 0:6bd25809e2e0 | 122 | |
lawliet | 0:6bd25809e2e0 | 123 | /** make motor stop |
lawliet | 0:6bd25809e2e0 | 124 | */ |
lawliet | 0:6bd25809e2e0 | 125 | void stop(); |
lawliet | 0:6bd25809e2e0 | 126 | |
lawliet | 0:6bd25809e2e0 | 127 | /** make motorA or motorB stop |
lawliet | 0:6bd25809e2e0 | 128 | * @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB |
lawliet | 0:6bd25809e2e0 | 129 | */ |
lawliet | 0:6bd25809e2e0 | 130 | void stop(uint8_t motorID); |
lawliet | 0:6bd25809e2e0 | 131 | |
lawliet | 0:6bd25809e2e0 | 132 | /** motor A |
lawliet | 0:6bd25809e2e0 | 133 | */ |
lawliet | 0:6bd25809e2e0 | 134 | MotorStruct motorA; |
lawliet | 0:6bd25809e2e0 | 135 | |
lawliet | 0:6bd25809e2e0 | 136 | /** motor B |
lawliet | 0:6bd25809e2e0 | 137 | */ |
lawliet | 0:6bd25809e2e0 | 138 | MotorStruct motorB; |
lawliet | 0:6bd25809e2e0 | 139 | |
lawliet | 0:6bd25809e2e0 | 140 | private: |
lawliet | 0:6bd25809e2e0 | 141 | |
lawliet | 0:6bd25809e2e0 | 142 | DigitalOut _int1; |
lawliet | 0:6bd25809e2e0 | 143 | DigitalOut _int2; |
lawliet | 0:6bd25809e2e0 | 144 | DigitalOut _int3; |
lawliet | 0:6bd25809e2e0 | 145 | DigitalOut _int4; |
lawliet | 0:6bd25809e2e0 | 146 | SoftwarePWM _speedA; |
lawliet | 0:6bd25809e2e0 | 147 | SoftwarePWM _speedB; |
lawliet | 0:6bd25809e2e0 | 148 | }; |
lawliet | 0:6bd25809e2e0 | 149 | #endif |