Eric Coyle / DRV8835

Basic Library for Pololu DRV8835

Dependents:   ME503_VehicleAssembly

DRV8835.cpp@2:6e781e956958, 2017-09-13 (annotated)

Committer:
DrCoyle
Date:
Wed Sep 13 20:52:48 2017 +0000
Revision:
2:6e781e956958
Parent:
1:edc8af84b968 
Update that includes streaming of USB to Matlab

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DrCoyle 0:0902ae053e3f 1 /* File: DRV8835.cpp
DrCoyle 0:0902ae053e3f 2 * Adopted from work by Cameron Isbell
DrCoyle 0:0902ae053e3f 3 *
DrCoyle 0:0902ae053e3f 4 * Description: library for DRV8835 Motor Driver
DrCoyle 0:0902ae053e3f 5 * Assumptions: A is left and B is right
DrCoyle 0:0902ae053e3f 6 */
DrCoyle 0:0902ae053e3f 7
DrCoyle 0:0902ae053e3f 8 #include "mbed.h"
DrCoyle 0:0902ae053e3f 9 #include "DRV8835.h"
DrCoyle 0:0902ae053e3f 10
DrCoyle 0:0902ae053e3f 11
DrCoyle 0:0902ae053e3f 12 DRV8835::DRV8835( PinName pinPwmL, PinName pinLin,
DrCoyle 0:0902ae053e3f 13 PinName pinPwmR, PinName pinRin) :
DrCoyle 0:0902ae053e3f 14 pwmL(pinPwmL),
DrCoyle 0:0902ae053e3f 15 Lin(pinLin),
DrCoyle 0:0902ae053e3f 16 pwmR(pinPwmR),
DrCoyle 0:0902ae053e3f 17 Rin(pinRin)
DrCoyle 0:0902ae053e3f 18 {
DrCoyle 0:0902ae053e3f 19 Lin = 0;
DrCoyle 0:0902ae053e3f 20 Rin = 0;
DrCoyle 0:0902ae053e3f 21 pwmL.period(DRV8835_PWM_PERIOD_DEFAULT);
DrCoyle 0:0902ae053e3f 22 pwmL = DRV8835_PWM_PULSEWIDTH_DEFAULT;
DrCoyle 0:0902ae053e3f 23 pwmR.period(DRV8835_PWM_PERIOD_DEFAULT);
DrCoyle 0:0902ae053e3f 24 pwmR = DRV8835_PWM_PULSEWIDTH_DEFAULT;
DrCoyle 0:0902ae053e3f 25 motorL_stop();
DrCoyle 0:0902ae053e3f 26 motorR_stop();
DrCoyle 0:0902ae053e3f 27 }
DrCoyle 0:0902ae053e3f 28
DrCoyle 1:edc8af84b968 29 void DRV8835::stop()
DrCoyle 1:edc8af84b968 30 {
DrCoyle 1:edc8af84b968 31 motorL_stop();
DrCoyle 1:edc8af84b968 32 motorR_stop();
DrCoyle 1:edc8af84b968 33 }
DrCoyle 0:0902ae053e3f 34
DrCoyle 0:0902ae053e3f 35 void DRV8835::motorL_stop(void)
DrCoyle 0:0902ae053e3f 36 {
DrCoyle 0:0902ae053e3f 37 pwmL = 0;
DrCoyle 0:0902ae053e3f 38 }
DrCoyle 0:0902ae053e3f 39
DrCoyle 1:edc8af84b968 40 void DRV8835::motorR_stop(void)
DrCoyle 1:edc8af84b968 41 {
DrCoyle 1:edc8af84b968 42 pwmR = 0;
DrCoyle 1:edc8af84b968 43 }
DrCoyle 1:edc8af84b968 44
DrCoyle 1:edc8af84b968 45 void DRV8835::setSpeeds(float Right,float Left)
DrCoyle 1:edc8af84b968 46 {
DrCoyle 1:edc8af84b968 47 //Set Right Speed and Direction
DrCoyle 1:edc8af84b968 48 if(Right<0)
DrCoyle 1:edc8af84b968 49 {
DrCoyle 2:6e781e956958 50 motorR_rev(Right*-1);
DrCoyle 1:edc8af84b968 51 } else {
DrCoyle 2:6e781e956958 52 motorR_fwd(Right);
DrCoyle 1:edc8af84b968 53 }
DrCoyle 1:edc8af84b968 54
DrCoyle 1:edc8af84b968 55 //Set Left Speed and Direction
DrCoyle 1:edc8af84b968 56 if(Left<0)
DrCoyle 1:edc8af84b968 57 {
DrCoyle 2:6e781e956958 58 motorL_rev(Left*-1);
DrCoyle 1:edc8af84b968 59 } else {
DrCoyle 2:6e781e956958 60 motorL_fwd(Left);
DrCoyle 1:edc8af84b968 61 }
DrCoyle 1:edc8af84b968 62 }
DrCoyle 2:6e781e956958 63
DrCoyle 2:6e781e956958 64 void DRV8835::motorL_fwd(float fPulsewidth)
DrCoyle 0:0902ae053e3f 65 {
DrCoyle 0:0902ae053e3f 66 Lin = 0;
DrCoyle 0:0902ae053e3f 67 pwmL = fPulsewidth;
DrCoyle 0:0902ae053e3f 68 }
DrCoyle 2:6e781e956958 69 void DRV8835::motorL_rev(float fPulsewidth)
DrCoyle 0:0902ae053e3f 70 {
DrCoyle 0:0902ae053e3f 71 Lin = 1;
DrCoyle 0:0902ae053e3f 72 pwmL = fPulsewidth;
DrCoyle 0:0902ae053e3f 73 }
DrCoyle 0:0902ae053e3f 74
DrCoyle 0:0902ae053e3f 75 void DRV8835::motorR_fwd(float fPulsewidth)
DrCoyle 0:0902ae053e3f 76 {
DrCoyle 2:6e781e956958 77 Rin = 1;
DrCoyle 2:6e781e956958 78 pwmR = fPulsewidth;
DrCoyle 2:6e781e956958 79 }
DrCoyle 2:6e781e956958 80 void DRV8835::motorR_rev(float fPulsewidth)
DrCoyle 2:6e781e956958 81 {
DrCoyle 0:0902ae053e3f 82 Rin = 0;
DrCoyle 0:0902ae053e3f 83 pwmR = fPulsewidth;
DrCoyle 0:0902ae053e3f 84 }
DrCoyle 0:0902ae053e3f 85