Seeed / MotorDriver

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of MotorDriver by wei zou

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?

UserRevisionLine numberNew contents of line
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