Diff: train.h

Revision:

0:5b36c1f8c206

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/train.h	Tue Feb 25 12:51:19 2020 +0000
@@ -0,0 +1,105 @@
+#ifndef MBED_TRAIN_H
+#define MBED_TRAIN_H
+
+#include "mbed.h"
+#include "rtos.h"
+
+class Train {
+    
+public:
+/*Class train
+* Based on PWM out pin, and two seperate directions pins. 
+* Original aim was to use L293 chip, as H-bridge driver, to drive model
+* railroad with 12V
+* Pin fwd = forward motion
+* Pin rwd = reverse motion
+* Pin pwm = pwm between 0 and 1 to set speed of train
+*/
+
+/*
+ * Example:
+ * @code
+ *
+ * #include "mbed.h"
+ * #include "rtos.h"
+ * #include "train.h"
+ * /////////////////////////Outputs///////////////////////////
+ * //Motor driver (train)
+ * //  Train train1 (LED3, LED2, LED1); //KL25Z LEDs can be used to simulate motor pins
+ * Train train1 (PTC5, PTC7, PTD1); //tested on K64F 
+ *  
+ * //DEbug serial port, to demonstrate GetDirection and GetSpeed callback
+ * Serial pc(USBTX, USBRX);
+ *
+ * //Main loop
+ * int main(){
+ * //enable train1 to update speed, and wait for commands
+ *  train1.Enable(1);
+ *
+ *  // continously change direction and accelerate. 
+ *  // Changing direction will automatically brake the train to 0 speed.
+ *   while(1) {
+ *       // SetDirection determines direction, 0 = stop, 1 = forward, 2 = reverse
+ *       train1.SetDirection(1);   
+ *             wait(2);
+ *       train1.SetSpeed(71);
+ *             wait(2);
+ *       pc.printf("Set direction: %d \r\n", train1.GetDirection());
+ *       pc.printf("Set Speed: %d \r\n", train1.GetSpeed());
+ *             wait(2);
+ *       train1.SetDirection(2);
+ *             wait(2);
+ *       train1.SetSpeed(56);          
+ *             wait(2);
+ *       pc.printf("Set direction: %d \r\n", train1.GetDirection());
+ *        pc.printf("Set Speed: %d \r\n", train1.GetSpeed());
+ *   }
+ * }
+ * @endcode
+ */
+
+//Create Train Class
+    Train(PinName fwd, PinName rwd, PinName pwm);
+    
+// AccConvert (make sure acceleration curve stays between 1-4 seconds)
+    int AccConvert (int _acc);
+// SetSpeed to value (value between 0 and 100), Train will automaticatly accelerate/brak to set speed    
+    void SetSpeed(int trainSpeed);
+// Update loop, called by interupt, check for speed changes and apply them
+    void Update();
+// Update loop, check if speed is 0 before switching direction
+    void UpdateDir();
+// Init train, now train can receive commands
+    void Enable(int _acc);
+// Disable train
+    void Disable();  
+// Direct stop. Abrubtly stops train, setting speed and direction to 0. 
+// When needing braking, use train.SetSpeed(0);
+    void DirectStop();
+// Set new direction to change direction of train. Train will brake to 0, before switching
+    void SetDirection(int _dir);   // 0 = standstill, 1 = forward, 2 = reverse
+
+// Get the last set direction    
+    int GetDirection();
+// Get the last set Speed
+    int GetSpeed();
+    
+//Variables:
+    int acc;
+    int CurrentDirection;
+    int CurrentTrainSpeed;
+    int NewTrainSpeed;
+    int NewDirection;
+ 
+ 
+private:  
+//Motor driver (train)
+DigitalOut  _fwd;   // forward motion
+DigitalOut  _rwd;   // rearward motion
+PwmOut      _pwm;   // Speed setting with pwm
+float       _current_speed;
+Ticker t_SetSpeed;
+Ticker t_SetDir;
+};
+ 
+#endif
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