Example for a Magnevation Board used previously on a OOPICII
Fork of Motordriver by
motordriver.cpp@6:81b393c33b77, 2013-02-11 (annotated)
- Committer:
- Degs
- Date:
- Mon Feb 11 21:44:17 2013 +0000
- Revision:
- 6:81b393c33b77
- Parent:
- 5:3110b9209d3c
Motordriver adapted for the Magnevation Board used previously with OOPICII
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 |
Degs | 6:81b393c33b77 | 4 | * Copyright (c) 2007-2010, S Ford |
littlexc | 1:3da7302dc9ae | 5 | * |
Degs | 6:81b393c33b77 | 6 | * by Derek Calland modified for a Magnevation PWM Driver Board based on LMD18200T H-Bridge Driver IC's |
littlexc | 1:3da7302dc9ae | 7 | * |
Degs | 6:81b393c33b77 | 8 | * from Christopher Hasler originally from Simon Ford'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 | |
Degs | 6:81b393c33b77 | 33 | Motor::Motor(PinName pwm, PinName fwdrev, PinName brake, bool direction, bool stop): ///Class Implementation |
Degs | 6:81b393c33b77 | 34 | _pwm(pwm), _fwdrev(fwdrev), _brake(brake) |
Degs | 6:81b393c33b77 | 35 | { |
Degs | 6:81b393c33b77 | 36 | _direction = direction; //Set each motor to rotate in clockwise or counter clockwise |
Degs | 6:81b393c33b77 | 37 | _stop = stop; //Stop all motion |
littlexc | 0:edc152f119b7 | 38 | |
littlexc | 0:edc152f119b7 | 39 | // Set initial condition of PWM |
littlexc | 0:edc152f119b7 | 40 | _pwm.period(0.001); |
littlexc | 0:edc152f119b7 | 41 | _pwm = 0; |
littlexc | 0:edc152f119b7 | 42 | |
littlexc | 0:edc152f119b7 | 43 | // Initial condition of output enables |
Degs | 6:81b393c33b77 | 44 | _fwdrev = fwdrev; //sets output to drive Motor in a direction |
Degs | 6:81b393c33b77 | 45 | /* check the motor to see what direction this is from Magnevation Board */ |
littlexc | 1:3da7302dc9ae | 46 | |
Degs | 6:81b393c33b77 | 47 | //Initial condition of Brake |
Degs | 6:81b393c33b77 | 48 | _brake = brake; //sets brake to ON/OFF condition to Magnevation Board |
littlexc | 0:edc152f119b7 | 49 | } |
littlexc | 1:3da7302dc9ae | 50 | |
Degs | 6:81b393c33b77 | 51 | float Motor::speed(float speed, bool direction, bool stop) |
Degs | 6:81b393c33b77 | 52 | { |
Degs | 6:81b393c33b77 | 53 | _fwdrev = direction; |
Degs | 6:81b393c33b77 | 54 | _brake = stop; //Sets brake to ON/OFF condition to Magnevation Board |
Degs | 6:81b393c33b77 | 55 | _pwm = abs(speed); |
Degs | 6:81b393c33b77 | 56 | return speed; |
littlexc | 0:edc152f119b7 | 57 | } |
littlexc | 0:edc152f119b7 | 58 | |
Degs | 6:81b393c33b77 | 59 | float Motor::stop(float speed, bool stop) |
Degs | 6:81b393c33b77 | 60 | { |
Degs | 6:81b393c33b77 | 61 | if (speed == 0.0) { |
Degs | 6:81b393c33b77 | 62 | wait(0.02); |
Degs | 6:81b393c33b77 | 63 | _brake = stop; |
Degs | 6:81b393c33b77 | 64 | } |
Degs | 6:81b393c33b77 | 65 | _pwm = abs(speed); |
Degs | 6:81b393c33b77 | 66 | return speed; |
littlexc | 0:edc152f119b7 | 67 | } |
littlexc | 1:3da7302dc9ae | 68 | |
littlexc | 4:5fb1296c0d60 | 69 |