Example for a Magnevation Board used previously on a OOPICII
Fork of Motordriver by
motordriver.cpp@1:3da7302dc9ae, 2010-11-11 (annotated)
- Committer:
- littlexc
- Date:
- Thu Nov 11 15:32:55 2010 +0000
- Revision:
- 1:3da7302dc9ae
- Parent:
- 0:edc152f119b7
- Child:
- 2:2dc873322032
this libary prevents throwing the motor from full foward to full reverse. to change direction, the motor must first come to a full stop, ie, coast, break or set speed to = 0.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
littlexc | 1:3da7302dc9ae | 1 | /*motor driver libary modified from the following libary, |
littlexc | 1:3da7302dc9ae | 2 | * |
littlexc | 1:3da7302dc9ae | 3 | * mbed simple H-bridge motor controller |
littlexc | 1:3da7302dc9ae | 4 | * Copyright (c) 2007-2010, sford |
littlexc | 1:3da7302dc9ae | 5 | * |
littlexc | 1:3da7302dc9ae | 6 | * by Christopher Hasler. |
littlexc | 1:3da7302dc9ae | 7 | * |
littlexc | 1:3da7302dc9ae | 8 | * from sford's libary, |
littlexc | 1:3da7302dc9ae | 9 | * |
littlexc | 1:3da7302dc9ae | 10 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
littlexc | 1:3da7302dc9ae | 11 | * of this software and associated documentation files (the "Software"), to deal |
littlexc | 1:3da7302dc9ae | 12 | * in the Software without restriction, including without limitation the rights |
littlexc | 1:3da7302dc9ae | 13 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
littlexc | 1:3da7302dc9ae | 14 | * copies of the Software, and to permit persons to whom the Software is |
littlexc | 1:3da7302dc9ae | 15 | * furnished to do so, subject to the following conditions: |
littlexc | 1:3da7302dc9ae | 16 | * |
littlexc | 1:3da7302dc9ae | 17 | * The above copyright notice and this permission notice shall be included in |
littlexc | 1:3da7302dc9ae | 18 | * all copies or substantial portions of the Software. |
littlexc | 1:3da7302dc9ae | 19 | * |
littlexc | 1:3da7302dc9ae | 20 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
littlexc | 1:3da7302dc9ae | 21 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
littlexc | 1:3da7302dc9ae | 22 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
littlexc | 1:3da7302dc9ae | 23 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
littlexc | 1:3da7302dc9ae | 24 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
littlexc | 1:3da7302dc9ae | 25 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
littlexc | 1:3da7302dc9ae | 26 | * THE SOFTWARE. |
littlexc | 1:3da7302dc9ae | 27 | */ |
littlexc | 0:edc152f119b7 | 28 | |
littlexc | 0:edc152f119b7 | 29 | #include "motordriver.h" |
littlexc | 1:3da7302dc9ae | 30 | |
littlexc | 0:edc152f119b7 | 31 | #include "mbed.h" |
littlexc | 1:3da7302dc9ae | 32 | |
littlexc | 0:edc152f119b7 | 33 | Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable): |
littlexc | 0:edc152f119b7 | 34 | _pwm(pwm), _fwd(fwd), _rev(rev) { |
littlexc | 0:edc152f119b7 | 35 | |
littlexc | 0:edc152f119b7 | 36 | // Set initial condition of PWM |
littlexc | 0:edc152f119b7 | 37 | _pwm.period(0.001); |
littlexc | 0:edc152f119b7 | 38 | _pwm = 0; |
littlexc | 0:edc152f119b7 | 39 | |
littlexc | 0:edc152f119b7 | 40 | // Initial condition of output enables |
littlexc | 0:edc152f119b7 | 41 | _fwd = 0; |
littlexc | 0:edc152f119b7 | 42 | _rev = 0; |
littlexc | 1:3da7302dc9ae | 43 | |
littlexc | 0:edc152f119b7 | 44 | //set if the motor dirver is capable of braking. (addition) |
littlexc | 0:edc152f119b7 | 45 | Brakeable= brakeable; |
littlexc | 1:3da7302dc9ae | 46 | sign = 0;//i.e nothing. |
littlexc | 0:edc152f119b7 | 47 | } |
littlexc | 1:3da7302dc9ae | 48 | |
littlexc | 0:edc152f119b7 | 49 | void Motor::speed(float speed) { |
littlexc | 1:3da7302dc9ae | 50 | if (sign == 0) { |
littlexc | 1:3da7302dc9ae | 51 | _fwd = (speed > 0.0); |
littlexc | 1:3da7302dc9ae | 52 | _rev = (speed < 0.0); |
littlexc | 1:3da7302dc9ae | 53 | _pwm = abs(speed); |
littlexc | 1:3da7302dc9ae | 54 | } else if (sign == 1) { |
littlexc | 1:3da7302dc9ae | 55 | if (speed < 0) { |
littlexc | 1:3da7302dc9ae | 56 | _fwd = (speed > 0.0); |
littlexc | 1:3da7302dc9ae | 57 | _rev = (speed < 0.0); |
littlexc | 1:3da7302dc9ae | 58 | _pwm = 0; |
littlexc | 1:3da7302dc9ae | 59 | } else { |
littlexc | 1:3da7302dc9ae | 60 | _fwd = (speed > 0.0); |
littlexc | 1:3da7302dc9ae | 61 | _rev = (speed < 0.0); |
littlexc | 1:3da7302dc9ae | 62 | _pwm = abs(speed); |
littlexc | 1:3da7302dc9ae | 63 | } |
littlexc | 1:3da7302dc9ae | 64 | } else if (sign == -1) { |
littlexc | 1:3da7302dc9ae | 65 | if (speed > 0) { |
littlexc | 1:3da7302dc9ae | 66 | _fwd = (speed > 0.0); |
littlexc | 1:3da7302dc9ae | 67 | _rev = (speed < 0.0); |
littlexc | 1:3da7302dc9ae | 68 | _pwm = 0; |
littlexc | 1:3da7302dc9ae | 69 | } else { |
littlexc | 1:3da7302dc9ae | 70 | _fwd = (speed > 0.0); |
littlexc | 1:3da7302dc9ae | 71 | _rev = (speed < 0.0); |
littlexc | 1:3da7302dc9ae | 72 | _pwm = abs(speed); |
littlexc | 1:3da7302dc9ae | 73 | } |
littlexc | 1:3da7302dc9ae | 74 | } |
littlexc | 1:3da7302dc9ae | 75 | if (speed > 0) |
littlexc | 1:3da7302dc9ae | 76 | sign = 1; |
littlexc | 1:3da7302dc9ae | 77 | else if (speed < 0) { |
littlexc | 1:3da7302dc9ae | 78 | sign = -1; |
littlexc | 1:3da7302dc9ae | 79 | } else if (speed == 0) { |
littlexc | 1:3da7302dc9ae | 80 | sign = 0; |
littlexc | 1:3da7302dc9ae | 81 | } |
littlexc | 1:3da7302dc9ae | 82 | |
littlexc | 0:edc152f119b7 | 83 | } |
littlexc | 0:edc152f119b7 | 84 | // (additions) |
littlexc | 0:edc152f119b7 | 85 | void Motor::coast(void) { |
littlexc | 0:edc152f119b7 | 86 | _fwd = 0; |
littlexc | 0:edc152f119b7 | 87 | _rev = 0; |
littlexc | 0:edc152f119b7 | 88 | _pwm = 0; |
littlexc | 1:3da7302dc9ae | 89 | sign = 0; |
littlexc | 0:edc152f119b7 | 90 | } |
littlexc | 0:edc152f119b7 | 91 | |
littlexc | 0:edc152f119b7 | 92 | void Motor::stop(void) { |
littlexc | 0:edc152f119b7 | 93 | if (Brakeable == 1) { |
littlexc | 0:edc152f119b7 | 94 | _fwd = 1; |
littlexc | 0:edc152f119b7 | 95 | _rev = 1; |
littlexc | 0:edc152f119b7 | 96 | _pwm = 0.5; |
littlexc | 1:3da7302dc9ae | 97 | sign = 0; |
littlexc | 1:3da7302dc9ae | 98 | } else |
littlexc | 1:3da7302dc9ae | 99 | return; |
littlexc | 0:edc152f119b7 | 100 | } |
littlexc | 1:3da7302dc9ae | 101 | |
littlexc | 0:edc152f119b7 | 102 | /* |
littlexc | 0:edc152f119b7 | 103 | test code, this demonstrates working motor drivers. |
littlexc | 1:3da7302dc9ae | 104 | |
littlexc | 1:3da7302dc9ae | 105 | Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break |
littlexc | 0:edc152f119b7 | 106 | Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break |
littlexc | 0:edc152f119b7 | 107 | int main() { |
littlexc | 0:edc152f119b7 | 108 | for (float s=-1.0; s < 1.0 ; s += 0.01) { |
littlexc | 1:3da7302dc9ae | 109 | A.speed(s); |
littlexc | 1:3da7302dc9ae | 110 | B.speed(s); |
littlexc | 0:edc152f119b7 | 111 | wait(0.02); |
littlexc | 0:edc152f119b7 | 112 | } |
littlexc | 0:edc152f119b7 | 113 | A.stop(); |
littlexc | 0:edc152f119b7 | 114 | B.stop(); |
littlexc | 0:edc152f119b7 | 115 | wait(1); |
littlexc | 0:edc152f119b7 | 116 | A.coast(); |
littlexc | 0:edc152f119b7 | 117 | B.coast(); |
littlexc | 0:edc152f119b7 | 118 | } |
littlexc | 0:edc152f119b7 | 119 | */ |