Diff: i_moto.cpp

Revision:

0:4c893274b335

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/i_moto.cpp	Thu Oct 13 09:32:19 2011 +0000
@@ -0,0 +1,142 @@
+#include "mbed.h"
+#include "i_moto.h"
+
+//-------------------------------------------------------------------------
+
+i_moto::i_moto( PinName _outpin, int _cycleTime_ms ): mOut( _outpin )
+{
+    if (_cycleTime_ms < 1) _cycleTime_ms = 1;           //clamp the cycle time to between 1 and 200 miliseconds
+    if (_cycleTime_ms > 200) _cycleTime_ms = 200;
+    
+    setTargetPower( 0 );                                //zero the power variables
+    currentPower = 0;
+    setCycle_ms( _cycleTime_ms );
+    setRampUp_s( 10 );                                  //default ramp up of 10 seconds
+    setRampDown_s( 0 );                                 //default ramp down of 0 seconds
+    ticker.attach_us( this, &i_moto::updatePower, (_cycleTime_ms * 200) );      //setup the ticker handler to update the mark space ratio of the PWM
+}
+
+//-------------------------------------------------------------------------
+
+i_moto::i_moto( PinName _outpin, int _cycleTime_ms, int _rampUp, int _rampDown ): mOut( _outpin )
+{
+    if (_cycleTime_ms < 1) _cycleTime_ms = 1;             //clamp the cycle time to between 1 and 200 miliseconds
+    if (_cycleTime_ms > 200) _cycleTime_ms = 200;
+    
+    setTargetPower( 0 );                                //zero the power variables
+    currentPower = 0;
+    setCycle_ms( _cycleTime_ms );
+    setRampUp_s( _rampUp );                             //default ramp up of 10 seconds
+    setRampDown_s( _rampDown );                         //default ramp down of 0 seconds
+    ticker.attach_us( this, &i_moto::updatePower, (_cycleTime_ms * 200) );      //setup the ticker handler to update the mark space ratio of the PWM
+}
+
+//-------------------------------------------------------------------------
+
+void i_moto::setCycle_ms( int cycleTime_ms )
+{
+    mOut.period_ms( cycleTime_ms );
+    cycleTime = cycleTime_ms;
+}
+
+//-------------------------------------------------------------------------
+
+void i_moto::setRampUp_s( int ramp_s )
+{
+    if (ramp_s < 0) ramp_s = 0;                 //clamp the ramp time between 0 and 120 seconds
+    if (ramp_s > 120) ramp_s = 120;
+    
+    if (ramp_s == 0)
+    {
+        temp = 0.0001;                          //prevent divide by zero error
+    }
+    else
+    {
+        temp = ramp_s;
+    }
+    upRamp = cycleTime / (temp * 5000);         //calculate the ramp delta as a function of Cycle Time
+}
+
+//-------------------------------------------------------------------------
+
+int i_moto::getRampUp_s( void )
+{
+    temp = cycleTime / (upRamp * 5000);         //ramp up from 0 to 100% in temp seconds
+    return temp;
+}
+
+//-------------------------------------------------------------------------
+
+void i_moto::setRampDown_s( int ramp_s )
+{
+    if (ramp_s < 0) ramp_s = 0;                 //clamp the ramp time between 0 and 120 seconds
+    if (ramp_s > 120) ramp_s = 120;
+    
+    if (ramp_s == 0)
+    {
+        temp = 0.0001;                          //prevent divide by zero error
+    }
+    else
+    {
+        temp = ramp_s;
+    }
+    downRamp = cycleTime / (temp * 5000);       //calculate the ramp delta as a function of Cycle Time
+}
+
+//-------------------------------------------------------------------------
+
+int i_moto::getRampDown_s( void )
+{
+    temp = cycleTime / (downRamp * 5000);       //ramp down from 100% to 0 in temp seconds
+    return temp;
+}
+
+//-------------------------------------------------------------------------
+
+void i_moto::setTargetPower( int percent )
+{
+    if (percent > 100) percent = 100;           //clamp target power to between 0 and 100 percent
+    if (percent < 0) percent = 0;
+    temp = percent;
+    targetPower = temp / 100;
+}
+
+//-------------------------------------------------------------------------
+
+int i_moto::getTargetPower( void )
+{
+    return targetPower * 100;                   //return target power as a percentage
+}
+
+//-------------------------------------------------------------------------
+
+int i_moto::getCurrentPower( void )
+{
+    return currentPower * 100;                  //return current power as a percentage
+}
+
+//-------------------------------------------------------------------------
+
+void i_moto::updatePower( void )
+//Ticker interupt routine for updating the PWM output
+{
+    if (currentPower < targetPower)             //current power needs to increace
+    {
+        currentPower += upRamp;
+        if (currentPower > targetPower)         //check for overshoot
+        {
+            currentPower = targetPower;         //clamp current power to target power
+        }
+    }
+    else if (currentPower > targetPower)        //current power needs to decreace
+    {
+        currentPower -= downRamp;
+        if (currentPower < targetPower)         //check for overshoot
+        {
+            currentPower = targetPower;         //clamp current power to target power
+        }
+    }
+    mOut = currentPower;                        //update the PWM output
+}
+
+//-------------------------------------------------------------------------