TVZ Mechatronics Team / HBridgeDCMotor

A class for driving a DC motor using a full-bridge (H-bridge) driver.

Dependencies:   RateLimiter

Dependents:   L298N-Breakout-Test Zavrsni_rad_NXP_cup

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HBridgeDCMotor Class Reference
Public Member Functions

HBridgeDCMotor Class Reference

A class for driving a DC motor using a full-bridge driver (H-bridge). More...

#include <HBridgeDCMotor.h>

Public Member Functions

 HBridgeDCMotor (PinName GH_A, PinName GL_A, PinName GH_B, PinName GL_B)
 Constructor for independently driven transistors.
 HBridgeDCMotor (PinName GH_A, PinName GH_B)
 Constructor for complementary driven transistors.
void configure (float sampleTime, float switchingFrequency, float rampUpTime, float rampDownTime)
 Configure the parameters.
void setDutyCycle (float dutyCycle)
 Set the motor speed by changing a duty cycle value.
void coast ()
 Set the drive in a coast mode.
float getDutyCycle ()
 Get the current duty cycle.

Detailed Description

A class for driving a DC motor using a full-bridge driver (H-bridge).

The class has an option to drive all 4 transistors gates independently by using 4 PwmOut objects, or to drive the H-bridge with complementary driven transistors using only 2 PwmOut objects.

Example of use:

 #include "mbed.h"
 #include "HBridgeDCMotor.h"

 HBridgeDCMotor motor(p21, p22);

 int main() {
     float sampleTime = 50e-3, switchingFrequency = 25e3, rampTime = 3;
     motor.configure(sampleTime, switchingFrequency, rampTime, rampTime);
     while(true) {
         motor.setDutyCycle(1);
         wait(10);
         motor.setDutyCycle(-1);
         wait(10);
     }
 }

Definition at line 29 of file HBridgeDCMotor.h.

Constructor & Destructor Documentation

HBridgeDCMotor ( PinName  GH_A,
PinName  GL_A,
PinName  GH_B,
PinName  GL_B 
)

Constructor for independently driven transistors.

H stands for high side and L for low side transistor. A and B designate the individual half-bridges.

Parameters:
GH_APWM signal for driving the high side transistor of the half-bridge A
GL_APWM signal for driving the low side transistor of the half-bridge A
GH_BPWM signal for driving the high side transistor of the half-bridge B
GL_BPWM signal for driving the low side transistor of the half-bridge B

Definition at line 3 of file HBridgeDCMotor.cpp.

HBridgeDCMotor ( PinName  GH_A,
PinName  GH_B 
)

Constructor for complementary driven transistors.

The high side transistors are driven directly, while the low side transistors are complemented by the driver itself using logic circuits. A and B designate the individual half-bridges.

Parameters:
GH_APWM signal for driving the high side transistor of the half-bridge A
GH_BPWM signal for driving the high side transistor of the half-bridge B

Definition at line 13 of file HBridgeDCMotor.cpp.

Member Function Documentation

void coast (  )

Set the drive in a coast mode.

Definition at line 72 of file HBridgeDCMotor.cpp.

void configure ( float  sampleTime,
float  switchingFrequency,
float  rampUpTime,
float  rampDownTime 
)

Configure the parameters.

Parameters:
sampleTimesample time in seconds
switchingFrequencyswitching frequency in Hz
rampUpTimeset the ramp up time (in seconds) from 0 to maximum speed
rampDownTimeset the ramp down time (in seconds) from maximum speed to 0

Definition at line 27 of file HBridgeDCMotor.cpp.

float getDutyCycle (  )

Get the current duty cycle.

Returns:
the current value of the duty cycle.

Definition at line 84 of file HBridgeDCMotor.cpp.

void setDutyCycle ( float  dutyCycle )

Set the motor speed by changing a duty cycle value.

Parameters:
dutyCycleDuty cycle value in a range of (-1, 1). Negative value means opposite direction.

Definition at line 63 of file HBridgeDCMotor.cpp.

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