Andy K / SimpleTLE5206

Tripple Controller for the TLE5206 H Bridge motor controller

inc/example1.h@4:d69f22061c03, 2011-07-05 (annotated)

Committer:
AjK
Date:
Tue Jul 05 14:55:29 2011 +0000
Revision:
4:d69f22061c03
Parent:
3:b7d951c6f551
Child:
5:bfc5c5cc161e
0.6 Beta See ChangLog.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AjK 0:e2433ca2ce59 1
AjK 0:e2433ca2ce59 2 #include "mbed.h"
AjK 0:e2433ca2ce59 3 #include "SimpleTLE5206.h"
AjK 0:e2433ca2ce59 4
AjK 0:e2433ca2ce59 5 /* NOTE! The SimpleTLE5206 library supports the TLE5206 in
AjK 0:e2433ca2ce59 6 * Mode 2 Sign/Magnitude Control using two PWM outputs to
AjK 0:e2433ca2ce59 7 * control speed and direction.
AjK 0:e2433ca2ce59 8 *
AjK 0:e2433ca2ce59 9 * Pins that be be used are p21, p22, p23, p24, p25 and/or p26
AjK 0:e2433ca2ce59 10 * in pairs. So the library supports upto 3 TLE5206 devices/motors.
AjK 0:e2433ca2ce59 11 *
AjK 2:c5fbe0cb8a97 12 * All PWM outputs use a common duty cycle. Therefore the third arg
AjK 2:c5fbe0cb8a97 13 * to the constructor must be the same for all TLE5206 devices. To
AjK 2:c5fbe0cb8a97 14 * ensure this, we use a #define DUTY_CYCLE_IN_HERTZ and supply it
AjK 2:c5fbe0cb8a97 15 * to all instances of controllers created.
AjK 0:e2433ca2ce59 16 *
AjK 0:e2433ca2ce59 17 * Additionally you can use LED1, LED2, LED3 and.or LED4 as mimics.
AjK 0:e2433ca2ce59 18 * However, if using:-
AjK 0:e2433ca2ce59 19 * LED1 you cannot use p26 to drive an in to TLE5206
AjK 0:e2433ca2ce59 20 * LED2 you cannot use p25 to drive an in to TLE5206
AjK 0:e2433ca2ce59 21 * LED3 you cannot use p24 to drive an in to TLE5206
AjK 0:e2433ca2ce59 22 * LED4 you cannot use p23 to drive an in to TLE5206
AjK 0:e2433ca2ce59 23 *
AjK 0:e2433ca2ce59 24 * The function SimpleTLE5206::setSpeed() takes a single arg, a double,
AjK 0:e2433ca2ce59 25 * and should be in the range +1.0 to -1.0 where +1.0 is full speed in
AjK 0:e2433ca2ce59 26 * a CW direction, -1.0 is full speed in a CCW direction and 0 is stopped.
AjK 0:e2433ca2ce59 27 */
AjK 0:e2433ca2ce59 28
AjK 2:c5fbe0cb8a97 29 #define DUTY_CYCLE_IN_HERTZ 50
AjK 2:c5fbe0cb8a97 30
AjK 3:b7d951c6f551 31 // Create a motor "A", driven by a TLE5206 on pins 21 and 22 (attach scope first, not a motor!)
AjK 2:c5fbe0cb8a97 32 SimpleTLE5206Output Ain1(p21); // TLE5206 In1 is connected to p21
AjK 2:c5fbe0cb8a97 33 SimpleTLE5206Output Ain2(p22); // TLE5206 In2 is connected to p22
AjK 2:c5fbe0cb8a97 34 SimpleTLE5206 motorA(&Ain1, &Ain2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
AjK 0:e2433ca2ce59 35
AjK 2:c5fbe0cb8a97 36 // Create a motor "B", driven by a TLE5206 but on LEDs as a mimic.
AjK 2:c5fbe0cb8a97 37 SimpleTLE5206Output Bin1(LED1); // TLE5206 In1 is connected to LED1
AjK 2:c5fbe0cb8a97 38 SimpleTLE5206Output Bin2(LED2); // TLE5206 In2 is connected to LED2
AjK 2:c5fbe0cb8a97 39 SimpleTLE5206 motorB(&Bin1, &Bin2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
AjK 0:e2433ca2ce59 40
AjK 2:c5fbe0cb8a97 41 // Create a motor "C", driven by a TLE5206 but on LEDs as a mimic.
AjK 2:c5fbe0cb8a97 42 SimpleTLE5206Output Cin1(LED3); // TLE5206 In1 is connected to LED3
AjK 2:c5fbe0cb8a97 43 SimpleTLE5206Output Cin2(LED4); // TLE5206 In2 is connected to LED4
AjK 2:c5fbe0cb8a97 44 SimpleTLE5206 motorC(&Cin1, &Cin2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
AjK 0:e2433ca2ce59 45
AjK 2:c5fbe0cb8a97 46 Ticker A, B, C;
AjK 2:c5fbe0cb8a97 47
AjK 2:c5fbe0cb8a97 48 volatile double demand[3];
AjK 2:c5fbe0cb8a97 49 volatile double speed[3];
AjK 0:e2433ca2ce59 50
AjK 1:e6f43157c7db 51 #define PI 3.14159265
AjK 1:e6f43157c7db 52
AjK 2:c5fbe0cb8a97 53 void Acallback(void) {
AjK 2:c5fbe0cb8a97 54 speed[0] = sin(demand[0] * PI / 180.0);
AjK 2:c5fbe0cb8a97 55 if (++demand[0] >= 360.0) demand[0] = 0.0;
AjK 2:c5fbe0cb8a97 56 motorA.setSpeed(speed[0]);
AjK 2:c5fbe0cb8a97 57 }
AjK 2:c5fbe0cb8a97 58
AjK 2:c5fbe0cb8a97 59 void Bcallback(void) {
AjK 2:c5fbe0cb8a97 60 speed[1] = sin(demand[1] * PI / 180.0);
AjK 2:c5fbe0cb8a97 61 if (++demand[1] >= 360.0) demand[1] = 0.0;
AjK 2:c5fbe0cb8a97 62 motorB.setSpeed(speed[1]);
AjK 2:c5fbe0cb8a97 63 }
AjK 2:c5fbe0cb8a97 64
AjK 2:c5fbe0cb8a97 65 void Ccallback(void) {
AjK 2:c5fbe0cb8a97 66 speed[2] = sin(demand[2] * PI / 180.0);
AjK 2:c5fbe0cb8a97 67 if (++demand[2] >= 360.0) demand[2] = 0.0;
AjK 2:c5fbe0cb8a97 68 motorC.setSpeed(speed[2]);
AjK 2:c5fbe0cb8a97 69 }
AjK 2:c5fbe0cb8a97 70
AjK 0:e2433ca2ce59 71 int main() {
AjK 2:c5fbe0cb8a97 72
AjK 2:c5fbe0cb8a97 73 volatile int trash = 0;
AjK 0:e2433ca2ce59 74
AjK 1:e6f43157c7db 75 motorA.setSpeed(0);
AjK 1:e6f43157c7db 76 motorB.setSpeed(0);
AjK 2:c5fbe0cb8a97 77 motorC.setSpeed(0);
AjK 2:c5fbe0cb8a97 78
AjK 2:c5fbe0cb8a97 79 // Init the global variables.
AjK 2:c5fbe0cb8a97 80 for (int i = 0; i < 3; i++) {
AjK 2:c5fbe0cb8a97 81 demand[i] = speed[i] = 0.0;
AjK 2:c5fbe0cb8a97 82 }
AjK 2:c5fbe0cb8a97 83
AjK 2:c5fbe0cb8a97 84 // Note, you probably wouldn't want to move the speed of
AjK 2:c5fbe0cb8a97 85 // a motor at this rate, may break it. This example uses
AjK 2:c5fbe0cb8a97 86 // a high update rate (0.025) assuming you are attaching
AjK 2:c5fbe0cb8a97 87 // an oscilloscope just for testing. It goes without saying
AjK 2:c5fbe0cb8a97 88 // that the update rates for B and C are way to big, I just
AjK 2:c5fbe0cb8a97 89 // choose these (0.005 and 0.0025) because it looks nice
AjK 2:c5fbe0cb8a97 90 // when used on LEDs!
AjK 2:c5fbe0cb8a97 91 // Always use appropriate accel/decel rates when handling
AjK 2:c5fbe0cb8a97 92 // motors/external hardware that moves.
AjK 2:c5fbe0cb8a97 93
AjK 2:c5fbe0cb8a97 94 A.attach(Acallback, 0.025);
AjK 2:c5fbe0cb8a97 95 B.attach(Bcallback, 0.005);
AjK 2:c5fbe0cb8a97 96 C.attach(Ccallback, 0.0025);
AjK 2:c5fbe0cb8a97 97
AjK 0:e2433ca2ce59 98 while(1) {
AjK 3:b7d951c6f551 99 /* The main loop has little to do as the Ticker callbacks
AjK 2:c5fbe0cb8a97 100 set-up the speed changes for the example. So give it something
AjK 2:c5fbe0cb8a97 101 to do. Maybe change this and use the spare time to calculate PI
AjK 2:c5fbe0cb8a97 102 more accurately? Lol, just kidding. */
AjK 2:c5fbe0cb8a97 103 trash++;
AjK 0:e2433ca2ce59 104 }
AjK 0:e2433ca2ce59 105 }
AjK 0:e2433ca2ce59 106
AjK 0:e2433ca2ce59 107