Jean Pontier / yMOTOR Featured

Gestion pont-H pour moteur CC

yMOTOR.h@0:af7b948d1f33, 2015-09-12 (annotated)

Committer:
Jean92
Date:
Sat Sep 12 12:41:43 2015 +0000
Revision:
0:af7b948d1f33
Child:
1:4dc14e8e5ff7
1st commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jean92 0:af7b948d1f33 1 /* mbed yMOTOR Library
Jean92 0:af7b948d1f33 2 * Copyright (c) 2015 Jean92, https://developer.mbed.org/users/Jean92/
Jean92 0:af7b948d1f33 3 *
Jean92 0:af7b948d1f33 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
Jean92 0:af7b948d1f33 5 * of this software and associated documentation files (the "Software"), to deal
Jean92 0:af7b948d1f33 6 * in the Software without restriction, including without limitation the rights
Jean92 0:af7b948d1f33 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Jean92 0:af7b948d1f33 8 * copies of the Software, and to permit persons to whom the Software is
Jean92 0:af7b948d1f33 9 * furnished to do so, subject to the following conditions:
Jean92 0:af7b948d1f33 10 *
Jean92 0:af7b948d1f33 11 * The above copyright notice and this permission notice shall be included in
Jean92 0:af7b948d1f33 12 * all copies or substantial portions of the Software.
Jean92 0:af7b948d1f33 13 *
Jean92 0:af7b948d1f33 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Jean92 0:af7b948d1f33 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Jean92 0:af7b948d1f33 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Jean92 0:af7b948d1f33 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Jean92 0:af7b948d1f33 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Jean92 0:af7b948d1f33 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Jean92 0:af7b948d1f33 20 * THE SOFTWARE.
Jean92 0:af7b948d1f33 21 */
Jean92 0:af7b948d1f33 22 // MIT Licence
Jean92 0:af7b948d1f33 23
Jean92 0:af7b948d1f33 24 /**
Jean92 0:af7b948d1f33 25 * @file yMOTOR.h
Jean92 0:af7b948d1f33 26 * @brief Header de la classe 'yMOTOR'
Jean92 0:af7b948d1f33 27 * @version V0.1
Jean92 0:af7b948d1f33 28 * @date 09-Sep-2015
Jean92 0:af7b948d1f33 29 * @note by Jean92 \n
Jean92 0:af7b948d1f33 30 * Controlleur pour Pont-H (MC33886)"
Jean92 0:af7b948d1f33 31 *
Jean92 0:af7b948d1f33 32 */
Jean92 0:af7b948d1f33 33
Jean92 0:af7b948d1f33 34 #ifndef DEF_yMOTOR_H
Jean92 0:af7b948d1f33 35 #define DEF_yMOTOR_H
Jean92 0:af7b948d1f33 36
Jean92 0:af7b948d1f33 37 #include "mbed.h"
Jean92 0:af7b948d1f33 38
Jean92 0:af7b948d1f33 39 #define yARRET 0
Jean92 0:af7b948d1f33 40 #define yMARCHE 1
Jean92 0:af7b948d1f33 41 #define yDB_def 0.3 // dead band around 0.0 for nul speed
Jean92 0:af7b948d1f33 42 #define yPeriod_def 0.01 // seconds
Jean92 0:af7b948d1f33 43
Jean92 0:af7b948d1f33 44 class yMOTOR
Jean92 0:af7b948d1f33 45 {
Jean92 0:af7b948d1f33 46 public: /// Methodes (visibles par tous!)
Jean92 0:af7b948d1f33 47
Jean92 0:af7b948d1f33 48 /** Interface de controle du moteur
Jean92 0:af7b948d1f33 49 * @param pwm (Pwmout, vitesse variable)
Jean92 0:af7b948d1f33 50 * @param av (DigitalOut, marche avant)
Jean92 0:af7b948d1f33 51 * @param ar (DigialOut, marche arriere)
Jean92 0:af7b948d1f33 52 */
Jean92 0:af7b948d1f33 53 yMOTOR(PinName pwm, PinName av, PinName ar); /// Constructeur par defaut
Jean92 0:af7b948d1f33 54 ~yMOTOR(); /// Destructeur
Jean92 0:af7b948d1f33 55
Jean92 0:af7b948d1f33 56 /** Vitesse request
Jean92 0:af7b948d1f33 57 * @param speed (float normalised [-1.0,+1.0]
Jean92 0:af7b948d1f33 58 * negative ==> reverse, positive ==> forward
Jean92 0:af7b948d1f33 59 */
Jean92 0:af7b948d1f33 60 void Speed(float speed);
Jean92 0:af7b948d1f33 61
Jean92 0:af7b948d1f33 62 /** PWM duty cycle periode in seconde
Jean92 0:af7b948d1f33 63 * wrapper for PwmOut::period()
Jean92 0:af7b948d1f33 64 * @param seconds (PWM duty cycle)
Jean92 0:af7b948d1f33 65 */
Jean92 0:af7b948d1f33 66 void Period(float seconds);
Jean92 0:af7b948d1f33 67
Jean92 0:af7b948d1f33 68 /** Marche/Arret request
Jean92 0:af7b948d1f33 69 * yARRET ==> av = ar = 0
Jean92 0:af7b948d1f33 70 * yMARCHE ==> av & ar = sign of speed
Jean92 0:af7b948d1f33 71 */
Jean92 0:af7b948d1f33 72 //void mararr(int mararr = yARRET);
Jean92 0:af7b948d1f33 73 void MarArr(int mararr);
Jean92 0:af7b948d1f33 74
Jean92 0:af7b948d1f33 75 /** Etat marche (running state)
Jean92 0:af7b948d1f33 76 */
Jean92 0:af7b948d1f33 77 bool Run();
Jean92 0:af7b948d1f33 78
Jean92 0:af7b948d1f33 79 /** Vitesse effective
Jean92 0:af7b948d1f33 80 * float normalised [-1.0,+1.0]
Jean92 0:af7b948d1f33 81 * negative ==> reverse, positive ==> forward
Jean92 0:af7b948d1f33 82 */
Jean92 0:af7b948d1f33 83 float Velocity();
Jean92 0:af7b948d1f33 84
Jean92 0:af7b948d1f33 85 private: /// Attributs - m_membres (visibles par les methodes)
Jean92 0:af7b948d1f33 86 float m_speed;
Jean92 0:af7b948d1f33 87
Jean92 0:af7b948d1f33 88 protected: /// Attibuts (accessibles seulement via les methodes)
Jean92 0:af7b948d1f33 89 PwmOut _pwm;
Jean92 0:af7b948d1f33 90 DigitalOut _av;
Jean92 0:af7b948d1f33 91 DigitalOut _ar;
Jean92 0:af7b948d1f33 92
Jean92 0:af7b948d1f33 93 };
Jean92 0:af7b948d1f33 94
Jean92 0:af7b948d1f33 95 #endif
Jean92 0:af7b948d1f33 96
Jean92 0:af7b948d1f33 97 /**
Jean92 0:af7b948d1f33 98 * @note \n
Jean92 0:af7b948d1f33 99 * That's all folks!
Jean92 0:af7b948d1f33 100 */