otamesi
Dependencies: mbed
motordriver.cpp
- Committer:
- 394
- Date:
- 2018-10-22
- Revision:
- 7:1c1b782263cf
- Parent:
- 0:a01fda36fde8
File content as of revision 7:1c1b782263cf:
#include "motordriver.h" #include "mbed.h" Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable): _pwm(pwm), _fwd(fwd), _rev(rev) { // Set initial condition of PWM _pwm.period(0.001); _pwm = 0; // Initial condition of output enables _fwd = 0; _rev = 0; //set if the motor dirver is capable of braking. (addition) Brakeable= brakeable; sign = 0;//i.e nothing. } float Motor::speed(float speed) { float temp = 0; if (sign == 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); temp = abs(speed); _pwm = temp; } else if (sign == 1) { if (speed < 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = 0; temp = 0; } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); temp = abs(speed); _pwm = temp; } } else if (sign == -1) { if (speed > 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = 0; temp = 0; } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); temp = abs(speed); _pwm = temp; } } if (speed > 0) sign = 1; else if (speed < 0) { sign = -1; } else if (speed == 0) { sign = 0; } return temp; } // (additions) void Motor::coast(void) { _fwd = 0; _rev = 0; _pwm = 0; sign = 0; } float Motor::stop(float duty) { if (Brakeable == 1) { _fwd = 1; _rev = 1; _pwm = duty; sign = 0; return duty; } else Motor::coast(); return -1; } float Motor::state(void) { if ((_fwd == _rev) && (_pwm > 0)) { return -2;//braking } else if (_pwm == 0) { return 2;//coasting } else if ((_fwd == 0) && (_rev == 1)) { return -(_pwm);//reversing } else if ((_fwd == 1) && (_rev == 0)) { return _pwm;//fowards } else return -3;//error } /* test code, this demonstrates working motor drivers. Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break int main() { for (float s=-1.0; s < 1.0 ; s += 0.01) { A.speed(s); B.speed(s); wait(0.02); } A.stop(); B.stop(); wait(1); A.coast(); B.coast(); } */