a3930.h

00001 #ifndef A3930_H
00002 #define A3930_H
00003 
00004 #include "mbed.h"
00005 #include "PCA9555.h"
00006 #include "PinDetect.h"
00007 
00008  /** Class for controlling motors trough PCA9555 */
00009 class A3930 {
00010 protected:
00011     FunctionPointer stallChangeCallback;
00012     FunctionPointer stallEndCallback;
00013     FunctionPointer stallWarningCallback;
00014     FunctionPointer stallErrorCallback;
00015 public:
00016     /** Create an instance of the motor connected to specfied pins, and IO-expander.
00017      *
00018      * @param PWMpin Pin for PWM output
00019      * @param *ioExt Pointer to IO-expander object
00020      * @param dir1Pin Direction pin 1 number (on IO-expander)
00021      * @param dir2Pin Direction pin 2 number (on IO-expander)
00022      * @param encA Encoder pin
00023      * @param encB Encoder pin
00024      */
00025     A3930(PinName PWMpin, PCA9555 *ioExt, unsigned int dirPin, unsigned int brakePin, unsigned int coastPin, PinName tachoPin, PinName diroPin);
00026     
00027     /** Set speed setpoint
00028      *
00029      * @param newSpeed New setpoint
00030      */
00031     void setSpeed(int newSpeed);
00032     
00033     /** Get current speed setpoint value */
00034     int getSpeed();
00035     
00036     /**Method that calculates appropriate PWM values for keeping motor speed close to setpoint
00037     *     This method shoud be called periodically (60Hz)
00038     */
00039     void pid();
00040     
00041     /** Set pwm duty cycle
00042      *
00043      * @param newPWM Duty cycle
00044      */
00045     void setPWM(float newPWM);
00046     
00047     void setRawPWM(float newPWM);
00048     
00049     int getStallLevel();
00050     
00051     void stallChange(void (*function)(void));
00052     
00053     template<typename T>
00054     void stallChange(T *object, void (T::*member)(void)) { 
00055         stallChangeCallback.attach(object, member); 
00056     }
00057     
00058     void stallEnd(void (*function)(void));
00059     
00060     template<typename T>
00061     void stallEnd(T *object, void (T::*member)(void)) { 
00062         stallEndCallback.attach(object, member); 
00063     }
00064     
00065     void stallWarning(void (*function)(void));
00066     
00067     template<typename T>
00068     void stallWarning(T *object, void (T::*member)(void)) { 
00069         stallWarningCallback.attach(object, member); 
00070     }
00071     
00072     void stallError(void (*function)(void));
00073     
00074     template<typename T>
00075     void stallError(T *object, void (T::*member)(void)) { 
00076         stallErrorCallback.attach(object, member); 
00077     }
00078  
00079 private:
00080     PwmOut pwm;
00081     PCA9555 *extIO;
00082     unsigned int dirPinNumber;
00083     unsigned int brakePinNumber;
00084     unsigned int coastPinNumber;
00085     
00086     InterruptIn interruptTacho;
00087     //InterruptIn interruptDiro;
00088     
00089     //PinDetect interruptTacho;
00090     PinDetect interruptDiro;
00091     
00092     volatile int diro;
00093     volatile int pulses;
00094     
00095     int currentSpeed;
00096     int getDecoderCount();
00097     
00098     void tachoChanged();
00099     void diroRise();
00100     void diroFall();
00101     
00102     void resetPID();
00103 
00104     int setPoint;
00105     float pMulti;
00106     float iMulti;
00107     float dMulti;
00108     int error;
00109     int prevError;
00110     float P;
00111     float I;
00112     float D;
00113     float minPwm;
00114     
00115     float pwmPeriod;
00116     
00117     float currentPWM;
00118     int stallCount;
00119     int prevStallCount;
00120     int stallWarningLimit;
00121     int stallErrorLimit;
00122     int stallLevel;
00123 };
00124 
00125 #endif