OPS HUD / PWMMotorDriver

PWM/Direction Motor Driver compatible with VNH3SP30 Motor Driver Carrier MD01B

Dependents:   RoboCup_2015

MotorDriver.h@1:4b1582384e71, 2014-09-29 (annotated)

Committer:
OPSHUD
Date:
Mon Sep 29 17:15:29 2014 +0000
Revision:
1:4b1582384e71
Parent:
0:be45415ffe07
Child:
2:b00b27b2573d
motor controls through arduino message

Who changed what in which revision?

UserRevisionLine numberNew contents of line
OPSHUD 0:be45415ffe07 1 #include "mbed.h"
OPSHUD 0:be45415ffe07 2 /** PWM/Direction Motor Driver
OPSHUD 0:be45415ffe07 3 * Compatible with VNH3SP30 Motor Driver Carrier MD01B
OPSHUD 0:be45415ffe07 4 *
OPSHUD 0:be45415ffe07 5 * Example:
OPSHUD 0:be45415ffe07 6 * @code
OPSHUD 0:be45415ffe07 7 * #include "MotorDriver.h"
OPSHUD 0:be45415ffe07 8 * MotorDriver motor(p21, p5, p6);
OPSHUD 0:be45415ffe07 9 * int main() {
OPSHUD 0:be45415ffe07 10 * while(true) {
OPSHUD 0:be45415ffe07 11 * motor = -0.5;
OPSHUD 0:be45415ffe07 12 * wait(0.5);
OPSHUD 0:be45415ffe07 13 * motor = -1;
OPSHUD 0:be45415ffe07 14 * wait(0.5);
OPSHUD 0:be45415ffe07 15 * motor = -0.5;
OPSHUD 0:be45415ffe07 16 * wait(0.5);
OPSHUD 0:be45415ffe07 17 * motor = 0;
OPSHUD 0:be45415ffe07 18 * wait(0.5)
OPSHUD 0:be45415ffe07 19 * motor = 0.5;
OPSHUD 0:be45415ffe07 20 * wait(0.5)
OPSHUD 0:be45415ffe07 21 * motor = 1;
OPSHUD 0:be45415ffe07 22 * wait(0.5);
OPSHUD 0:be45415ffe07 23 * motor = 0.5;
OPSHUD 0:be45415ffe07 24 * wait(0.5);
OPSHUD 0:be45415ffe07 25 * motor = 0;
OPSHUD 0:be45415ffe07 26 * wait(0.5);
OPSHUD 0:be45415ffe07 27 * }
OPSHUD 0:be45415ffe07 28 * }
OPSHUD 0:be45415ffe07 29 * @endcode
OPSHUD 0:be45415ffe07 30 * @author Michael Vartan
OPSHUD 0:be45415ffe07 31 */
OPSHUD 0:be45415ffe07 32 class MotorDriver {
OPSHUD 0:be45415ffe07 33 public:
OPSHUD 0:be45415ffe07 34 /**
OPSHUD 0:be45415ffe07 35 * Create a PWM/Direction motor on the specified pins.
OPSHUD 0:be45415ffe07 36 * @param PwmPin The pin which sends PWM Output to the motor driver
OPSHUD 0:be45415ffe07 37 * @param directionPin1 The first of two direction pins to the motor driver
OPSHUD 0:be45415ffe07 38 * @param directionPin2 The second of two direction pins to the motor driver
OPSHUD 0:be45415ffe07 39 */
OPSHUD 0:be45415ffe07 40 MotorDriver(PinName PWMPin, PinName directionPin1, PinName directionPin2);
OPSHUD 0:be45415ffe07 41
OPSHUD 0:be45415ffe07 42 /**
OPSHUD 0:be45415ffe07 43 * Sets the PWM duty cycle to the absolute value of your percentage, and the direction as
OPSHUD 0:be45415ffe07 44 * the sign of your value.
OPSHUD 0:be45415ffe07 45 * @param value From -1.0 to 1.0, the percentage you want to run your motor at.
OPSHUD 0:be45415ffe07 46 */
OPSHUD 0:be45415ffe07 47 void SetValue(float value);
OPSHUD 0:be45415ffe07 48
OPSHUD 0:be45415ffe07 49 /**
OPSHUD 0:be45415ffe07 50 * Gets the last value assigned to the motor driver.
OPSHUD 0:be45415ffe07 51 *
OPSHUD 0:be45415ffe07 52 * @returns motor driver value
OPSHUD 0:be45415ffe07 53 */
OPSHUD 0:be45415ffe07 54 float GetValue() const;
OPSHUD 0:be45415ffe07 55
OPSHUD 0:be45415ffe07 56 /**
OPSHUD 0:be45415ffe07 57 * Shorthand for GetValue
OPSHUD 0:be45415ffe07 58 */
OPSHUD 0:be45415ffe07 59 MotorDriver& operator=(float value);
OPSHUD 1:4b1582384e71 60
OPSHUD 0:be45415ffe07 61 private:
OPSHUD 0:be45415ffe07 62 PwmOut mPWM;
OPSHUD 0:be45415ffe07 63 DigitalOut mDir1;
OPSHUD 0:be45415ffe07 64 DigitalOut mDir2;
OPSHUD 0:be45415ffe07 65 float mValue;
OPSHUD 0:be45415ffe07 66 };