MotorDriver.h

00001 /*
00002   MotorDriver.h
00003   2014 Copyright (c) Seeed Technology Inc.  All right reserved.
00004 
00005   Author:lawliet.zou@gmail.com
00006   2014-02-11
00007 
00008   This library is free software; you can redistribute it and/or
00009   modify it under the terms of the GNU Lesser General Public
00010   License as published by the Free Software Foundation; either
00011   version 2.1 of the License, or (at your option) any later version.
00012 
00013   This library is distributed in the hope that it will be useful,
00014   but WITHOUT ANY WARRANTY; without even the implied warranty of
00015   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016   Lesser General Public License for more details.
00017 
00018   You should have received a copy of the GNU Lesser General Public
00019   License along with this library; if not, write to the Free Software
00020   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 */
00022 #ifndef __MOTORDRIVER_H__
00023 #define __MOTORDRIVER_H__
00024 
00025 #include "mbed.h"
00026 #include "SoftwarePWM.h"
00027 
00028 /**************Motor ID**********************/
00029 #define MOTORA                  0
00030 #define MOTORB                  1
00031 
00032 #define LOW                     0
00033 #define HIGH                    1
00034 
00035 #define MOTOR_POSITION_LEFT     0
00036 #define MOTOR_POSITION_RIGHT    1
00037 #define MOTOR_CLOCKWISE         0
00038 #define MOTOR_ANTICLOCKWISE     1
00039 
00040 #define USE_DC_MOTOR            0
00041 
00042 #define MOTOR_PERIOD            10000 //10ms
00043 
00044 struct MotorStruct {
00045     uint8_t speed;
00046     uint8_t direction;
00047     uint8_t position;
00048 };
00049 
00050 /** Motor Driver class.
00051  *  offer API to control the movement of motor
00052  */
00053 class MotorDriver
00054 {
00055 
00056 public:
00057 
00058     /** Create Motor Driver instance
00059      *  @param int1 pin 1 of motor movement control
00060      *  @param int2 pin 2 of motor movement control
00061      *  @param int3 pin 3 of motor movement control
00062      *  @param int4 pin 4 of motor movement control
00063         @param speedA speed control of motorA
00064         @param speedB speed control of motorB
00065      */
00066     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) {
00067         _int1 = 0;
00068         _int2 = 0;
00069         _int3 = 0;
00070         _int4 = 0;
00071     };
00072 
00073     /** set motor to initialized state
00074      */
00075     void init();
00076 
00077     /** config position of motor
00078      *  @param position the position set to motor,MOTOR_POSITION_LEFT or MOTOR_POSITION_RIGHT will be allowed
00079      *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
00080      */
00081     void configure(uint8_t position, uint8_t motorID);
00082 
00083     /** set speed of motor
00084      *  @param speed speed value set to motor, [0,100] will be allowed
00085      *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
00086      */
00087     void setSpeed(uint8_t speed, uint8_t motorID);
00088 
00089     /** set direction of motor,
00090      *  @param direction the direction of motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
00091      *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
00092      */
00093     void setDirection(uint8_t direction, uint8_t motorID);
00094 
00095     /** rotate motor
00096      *  @param direction the direction set to motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
00097      *  @param motor_position the position set to motor,MOTOR_POSITION_LEFT or MOTOR_POSITION_RIGHT will be allowed
00098      */
00099     void rotate(uint8_t direction, uint8_t motor_position);
00100 
00101     /** rotate motorA or motorB
00102      *  @param direction the direction set to motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
00103      *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
00104      */
00105     void rotateWithID(uint8_t direction, uint8_t motorID);
00106 
00107     /** make motor go forward
00108      */
00109     void goForward();
00110 
00111     /** make motor go backward
00112      */
00113     void goBackward();
00114 
00115     /** make motor go left
00116      */
00117     void goLeft();
00118 
00119     /** make motor go right
00120      */
00121     void goRight();
00122 
00123     /** make motor stop
00124      */
00125     void stop();
00126 
00127     /** make motorA or motorB stop
00128      *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
00129      */
00130     void stop(uint8_t motorID);
00131 
00132     /** motor A
00133      */
00134     MotorStruct motorA;
00135 
00136     /** motor B
00137      */
00138     MotorStruct motorB;
00139 
00140 private:
00141 
00142     DigitalOut  _int1;
00143     DigitalOut  _int2;
00144     DigitalOut  _int3;
00145     DigitalOut  _int4;
00146     SoftwarePWM _speedA;
00147     SoftwarePWM _speedB;
00148 };
00149 #endif