ニクロム線切断、GPS取得、モーター、障害物回避、フォトインタラプタ、(距離推定)、加速度と地磁気のデータ取得
Dependencies: mbed
Fork of cansat_main by
motordriver.cpp@14:984454b9f2ab, 2018-11-09 (annotated)
- Committer:
- sayan2
- Date:
- Fri Nov 09 15:05:09 2018 +0000
- Revision:
- 14:984454b9f2ab
- Parent:
- 0:a01fda36fde8
- Child:
- 7:1c1b782263cf
11/10 0:04 FET??????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
seangshim | 0:a01fda36fde8 | 1 | /*motor driver libary modified from the following libary, |
seangshim | 0:a01fda36fde8 | 2 | * |
seangshim | 0:a01fda36fde8 | 3 | * mbed simple H-bridge motor controller |
seangshim | 0:a01fda36fde8 | 4 | * Copyright (c) 2007-2010, sford |
seangshim | 0:a01fda36fde8 | 5 | * |
seangshim | 0:a01fda36fde8 | 6 | * by Christopher Hasler. |
seangshim | 0:a01fda36fde8 | 7 | * |
seangshim | 0:a01fda36fde8 | 8 | * from sford's libary, |
seangshim | 0:a01fda36fde8 | 9 | * |
seangshim | 0:a01fda36fde8 | 10 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
seangshim | 0:a01fda36fde8 | 11 | * of this software and associated documentation files (the "Software"), to deal |
seangshim | 0:a01fda36fde8 | 12 | * in the Software without restriction, including without limitation the rights |
seangshim | 0:a01fda36fde8 | 13 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
seangshim | 0:a01fda36fde8 | 14 | * copies of the Software, and to permit persons to whom the Software is |
seangshim | 0:a01fda36fde8 | 15 | * furnished to do so, subject to the following conditions: |
seangshim | 0:a01fda36fde8 | 16 | * |
seangshim | 0:a01fda36fde8 | 17 | * The above copyright notice and this permission notice shall be included in |
seangshim | 0:a01fda36fde8 | 18 | * all copies or substantial portions of the Software. |
seangshim | 0:a01fda36fde8 | 19 | * |
seangshim | 0:a01fda36fde8 | 20 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
seangshim | 0:a01fda36fde8 | 21 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
seangshim | 0:a01fda36fde8 | 22 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
seangshim | 0:a01fda36fde8 | 23 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
seangshim | 0:a01fda36fde8 | 24 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
seangshim | 0:a01fda36fde8 | 25 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
seangshim | 0:a01fda36fde8 | 26 | * THE SOFTWARE. |
seangshim | 0:a01fda36fde8 | 27 | */ |
seangshim | 0:a01fda36fde8 | 28 | |
seangshim | 0:a01fda36fde8 | 29 | #include "motordriver.h" |
seangshim | 0:a01fda36fde8 | 30 | |
seangshim | 0:a01fda36fde8 | 31 | #include "mbed.h" |
seangshim | 0:a01fda36fde8 | 32 | |
seangshim | 0:a01fda36fde8 | 33 | Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable): |
seangshim | 0:a01fda36fde8 | 34 | _pwm(pwm), _fwd(fwd), _rev(rev) { |
seangshim | 0:a01fda36fde8 | 35 | |
seangshim | 0:a01fda36fde8 | 36 | // Set initial condition of PWM |
seangshim | 0:a01fda36fde8 | 37 | _pwm.period(0.001); |
seangshim | 0:a01fda36fde8 | 38 | _pwm = 0; |
seangshim | 0:a01fda36fde8 | 39 | |
seangshim | 0:a01fda36fde8 | 40 | // Initial condition of output enables |
seangshim | 0:a01fda36fde8 | 41 | _fwd = 0; |
seangshim | 0:a01fda36fde8 | 42 | _rev = 0; |
seangshim | 0:a01fda36fde8 | 43 | |
seangshim | 0:a01fda36fde8 | 44 | //set if the motor dirver is capable of braking. (addition) |
seangshim | 0:a01fda36fde8 | 45 | Brakeable= brakeable; |
seangshim | 0:a01fda36fde8 | 46 | sign = 0;//i.e nothing. |
seangshim | 0:a01fda36fde8 | 47 | } |
seangshim | 0:a01fda36fde8 | 48 | |
seangshim | 0:a01fda36fde8 | 49 | float Motor::speed(float speed) { |
seangshim | 0:a01fda36fde8 | 50 | float temp = 0; |
seangshim | 0:a01fda36fde8 | 51 | if (sign == 0) { |
seangshim | 0:a01fda36fde8 | 52 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 53 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 54 | temp = abs(speed); |
seangshim | 0:a01fda36fde8 | 55 | _pwm = temp; |
seangshim | 0:a01fda36fde8 | 56 | } else if (sign == 1) { |
seangshim | 0:a01fda36fde8 | 57 | if (speed < 0) { |
seangshim | 0:a01fda36fde8 | 58 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 59 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 60 | _pwm = 0; |
seangshim | 0:a01fda36fde8 | 61 | temp = 0; |
seangshim | 0:a01fda36fde8 | 62 | } else { |
seangshim | 0:a01fda36fde8 | 63 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 64 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 65 | temp = abs(speed); |
seangshim | 0:a01fda36fde8 | 66 | _pwm = temp; |
seangshim | 0:a01fda36fde8 | 67 | } |
seangshim | 0:a01fda36fde8 | 68 | } else if (sign == -1) { |
seangshim | 0:a01fda36fde8 | 69 | if (speed > 0) { |
seangshim | 0:a01fda36fde8 | 70 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 71 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 72 | _pwm = 0; |
seangshim | 0:a01fda36fde8 | 73 | temp = 0; |
seangshim | 0:a01fda36fde8 | 74 | } else { |
seangshim | 0:a01fda36fde8 | 75 | _fwd = (speed > 0.0); |
seangshim | 0:a01fda36fde8 | 76 | _rev = (speed < 0.0); |
seangshim | 0:a01fda36fde8 | 77 | temp = abs(speed); |
seangshim | 0:a01fda36fde8 | 78 | _pwm = temp; |
seangshim | 0:a01fda36fde8 | 79 | } |
seangshim | 0:a01fda36fde8 | 80 | } |
seangshim | 0:a01fda36fde8 | 81 | if (speed > 0) |
seangshim | 0:a01fda36fde8 | 82 | sign = 1; |
seangshim | 0:a01fda36fde8 | 83 | else if (speed < 0) { |
seangshim | 0:a01fda36fde8 | 84 | sign = -1; |
seangshim | 0:a01fda36fde8 | 85 | } else if (speed == 0) { |
seangshim | 0:a01fda36fde8 | 86 | sign = 0; |
seangshim | 0:a01fda36fde8 | 87 | } |
seangshim | 0:a01fda36fde8 | 88 | return temp; |
seangshim | 0:a01fda36fde8 | 89 | } |
seangshim | 0:a01fda36fde8 | 90 | // (additions) |
seangshim | 0:a01fda36fde8 | 91 | void Motor::coast(void) { |
seangshim | 0:a01fda36fde8 | 92 | _fwd = 0; |
seangshim | 0:a01fda36fde8 | 93 | _rev = 0; |
seangshim | 0:a01fda36fde8 | 94 | _pwm = 0; |
seangshim | 0:a01fda36fde8 | 95 | sign = 0; |
seangshim | 0:a01fda36fde8 | 96 | } |
seangshim | 0:a01fda36fde8 | 97 | |
seangshim | 0:a01fda36fde8 | 98 | float Motor::stop(float duty) { |
seangshim | 0:a01fda36fde8 | 99 | if (Brakeable == 1) { |
seangshim | 0:a01fda36fde8 | 100 | _fwd = 1; |
seangshim | 0:a01fda36fde8 | 101 | _rev = 1; |
seangshim | 0:a01fda36fde8 | 102 | _pwm = duty; |
seangshim | 0:a01fda36fde8 | 103 | sign = 0; |
seangshim | 0:a01fda36fde8 | 104 | return duty; |
seangshim | 0:a01fda36fde8 | 105 | } else |
seangshim | 0:a01fda36fde8 | 106 | Motor::coast(); |
seangshim | 0:a01fda36fde8 | 107 | return -1; |
seangshim | 0:a01fda36fde8 | 108 | } |
seangshim | 0:a01fda36fde8 | 109 | |
seangshim | 0:a01fda36fde8 | 110 | float Motor::state(void) { |
seangshim | 0:a01fda36fde8 | 111 | if ((_fwd == _rev) && (_pwm > 0)) { |
seangshim | 0:a01fda36fde8 | 112 | return -2;//braking |
seangshim | 0:a01fda36fde8 | 113 | } else if (_pwm == 0) { |
seangshim | 0:a01fda36fde8 | 114 | return 2;//coasting |
seangshim | 0:a01fda36fde8 | 115 | } else if ((_fwd == 0) && (_rev == 1)) { |
seangshim | 0:a01fda36fde8 | 116 | return -(_pwm);//reversing |
seangshim | 0:a01fda36fde8 | 117 | } else if ((_fwd == 1) && (_rev == 0)) { |
seangshim | 0:a01fda36fde8 | 118 | return _pwm;//fowards |
seangshim | 0:a01fda36fde8 | 119 | } else |
seangshim | 0:a01fda36fde8 | 120 | return -3;//error |
seangshim | 0:a01fda36fde8 | 121 | } |
seangshim | 0:a01fda36fde8 | 122 | |
seangshim | 0:a01fda36fde8 | 123 | /* |
seangshim | 0:a01fda36fde8 | 124 | test code, this demonstrates working motor drivers. |
seangshim | 0:a01fda36fde8 | 125 | |
seangshim | 0:a01fda36fde8 | 126 | Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break |
seangshim | 0:a01fda36fde8 | 127 | Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break |
seangshim | 0:a01fda36fde8 | 128 | int main() { |
seangshim | 0:a01fda36fde8 | 129 | for (float s=-1.0; s < 1.0 ; s += 0.01) { |
seangshim | 0:a01fda36fde8 | 130 | A.speed(s); |
seangshim | 0:a01fda36fde8 | 131 | B.speed(s); |
seangshim | 0:a01fda36fde8 | 132 | wait(0.02); |
seangshim | 0:a01fda36fde8 | 133 | } |
seangshim | 0:a01fda36fde8 | 134 | A.stop(); |
seangshim | 0:a01fda36fde8 | 135 | B.stop(); |
seangshim | 0:a01fda36fde8 | 136 | wait(1); |
seangshim | 0:a01fda36fde8 | 137 | A.coast(); |
seangshim | 0:a01fda36fde8 | 138 | B.coast(); |
seangshim | 0:a01fda36fde8 | 139 | } |
seangshim | 0:a01fda36fde8 | 140 | */ |