Diff: Motor.h

Revision:

0:863eca4e24ff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Wed Nov 06 14:22:03 2019 +0000
@@ -0,0 +1,135 @@
+#ifndef L298HBridge_H
+#define L298HBridge_H
+ 
+#include "mbed.h"
+#include <string>
+#include <vector>
+using namespace std;
+ 
+/** Class library for a L298 H-Bridge.
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "L298HBridge.h"
+ *
+ * L298HBridge dcmotor(PA_5, PA_6, PA_10); //Create a L298HBridge object with enable pin on PA5, Fwd pin or PA6 and Rev pin on PA10
+ *
+ * int main() 
+ * {
+ *    while(1)
+ *    {
+ *          dcmotor.Fwd();               //setting the motor to spin forward
+ *          dcmotor.SetSpeed(0.5);       //setting the speed the motor will spin
+ *    }    
+ * }
+ * @endcode
+ */
+ 
+class L298HBridge {
+  public:
+    /** Create a L298HBridge object connected to the specified pins. Once created, The pins still need
+    * to be set to a direction and also the speed via PWM.
+    * @param ENpin PwmOut compatible pin used to set the speed of the motor.
+    * @param FWDpin Used to spin the motor in the forward direction.
+    * @param REVDpin Used to spin the motor in the Reverse direction.
+    * @param chanA digital interrupt to trigger the speed calculation.
+    * @param chanB digital input to get the sens of rotation.
+    */
+    L298HBridge(PinName ENpin, PinName FWDpin, PinName REVpin, PinName chanApin, PinName chanBpin);
+    
+    /** Setting the DC motor to spin in the forward direction.
+    * @param 
+    *     None
+    */
+    void Fwd();
+    
+    /** Setting the DC motor to spin in the Revers direction.
+    * @param 
+    *     None
+    */
+    void Rev();
+    
+     /** Stopping the motor.
+    * @param 
+    *     None
+    */
+    void Stop();
+    
+     /** Set the speed of the motor.
+    * @param 
+    *     PWMPercentage, variable to set te speed of the motor (any value from 0.1 - 1).
+    * @return
+    *     None
+    */
+    void SetSpeed(float PWMPercentage);
+    
+    /** Get the speed of the motor
+    * @param
+    *   None
+    * @return
+    *   Speed, the current speed of the motor
+    */
+    float GetSpeed(int index);
+    
+    /** Set the speed (RPM) of the motor
+    * @param
+    *   SpeedRPM, the Speed in RPM the motor must reach 
+    * @return
+    *  None
+    */
+    void SetSpeedA(float SpeedRPM);
+    
+    /** change the parameters of control
+    * @param
+    *   GainProp, the value of the propotionnal gain used in the asservissment
+    *   GainInt, the value of the integral gain used in the asservissment
+    * @return
+    *   None
+    */
+    void SetAsser(float GainProp, float GainInt);
+    
+    /** Calculate the speed of the motor 
+    * @param
+    *   None
+    * @return
+    *   None
+    */
+    void rising();
+    
+    /** Return the calcul  ated input
+    * @param
+    *   None
+    *@ @return
+    *   percent, the last output calulated by the PI
+    */
+    float GetU();
+    
+    /** Return the state
+    * @param
+    *   None
+    *@ @return
+    *   state, 1 fwd, 2 rev, 0 stop
+    */
+    string state();
+    
+ 
+  private:
+    PwmOut _en;
+    DigitalOut _fwd, _rev;
+    InterruptIn _chanA;
+    DigitalIn _chanB;
+    float _currentSpeed;
+    float _lastAUp;
+    Timer _Time;
+    float _gainProp;
+    float _gainInt;
+    float _maxSpeed;
+    float _lastOut;
+    
+    int _rpm_index;
+};
+static std::vector<float> rpm;
+static int count_ini = 10;
+
+#endif