A simple Hbridge driver library (tested with the L293D). It uses a PWM pin on the enable and two DIOs on the control pins. Versatile.
Fork of HBridge by
HBridge.h@0:16208393c7ae, 2012-09-20 (annotated)
- Committer:
- p07gbar
- Date:
- Thu Sep 20 11:36:17 2012 +0000
- Revision:
- 0:16208393c7ae
- Child:
- 1:ef9cf0926575
Working, Documented
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
p07gbar | 0:16208393c7ae | 1 | /** |
p07gbar | 0:16208393c7ae | 2 | * @author Giles Barton-Owen |
p07gbar | 0:16208393c7ae | 3 | * |
p07gbar | 0:16208393c7ae | 4 | * @section LICENSE |
p07gbar | 0:16208393c7ae | 5 | * |
p07gbar | 0:16208393c7ae | 6 | * Copyright (c) 2012 mbed |
p07gbar | 0:16208393c7ae | 7 | * |
p07gbar | 0:16208393c7ae | 8 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
p07gbar | 0:16208393c7ae | 9 | * of this software and associated documentation files (the "Software"), to deal |
p07gbar | 0:16208393c7ae | 10 | * in the Software without restriction, including without limitation the rights |
p07gbar | 0:16208393c7ae | 11 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
p07gbar | 0:16208393c7ae | 12 | * copies of the Software, and to permit persons to whom the Software is |
p07gbar | 0:16208393c7ae | 13 | * furnished to do so, subject to the following conditions: |
p07gbar | 0:16208393c7ae | 14 | * |
p07gbar | 0:16208393c7ae | 15 | * The above copyright notice and this permission notice shall be included in |
p07gbar | 0:16208393c7ae | 16 | * all copies or substantial portions of the Software. |
p07gbar | 0:16208393c7ae | 17 | * |
p07gbar | 0:16208393c7ae | 18 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
p07gbar | 0:16208393c7ae | 19 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
p07gbar | 0:16208393c7ae | 20 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
p07gbar | 0:16208393c7ae | 21 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
p07gbar | 0:16208393c7ae | 22 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
p07gbar | 0:16208393c7ae | 23 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
p07gbar | 0:16208393c7ae | 24 | * THE SOFTWARE. |
p07gbar | 0:16208393c7ae | 25 | * |
p07gbar | 0:16208393c7ae | 26 | * @section DESCRIPTION |
p07gbar | 0:16208393c7ae | 27 | * A simple library to control an H-Bridge driver using two DIO and a PWM pin |
p07gbar | 0:16208393c7ae | 28 | * |
p07gbar | 0:16208393c7ae | 29 | */ |
p07gbar | 0:16208393c7ae | 30 | |
p07gbar | 0:16208393c7ae | 31 | |
p07gbar | 0:16208393c7ae | 32 | #ifndef HBRIDGERAW_H |
p07gbar | 0:16208393c7ae | 33 | #define HBRIDGERAW_H |
p07gbar | 0:16208393c7ae | 34 | |
p07gbar | 0:16208393c7ae | 35 | #include "mbed.h" |
p07gbar | 0:16208393c7ae | 36 | |
p07gbar | 0:16208393c7ae | 37 | /** A simple HBridge controller library |
p07gbar | 0:16208393c7ae | 38 | */ |
p07gbar | 0:16208393c7ae | 39 | class HBridge |
p07gbar | 0:16208393c7ae | 40 | { |
p07gbar | 0:16208393c7ae | 41 | public: |
p07gbar | 0:16208393c7ae | 42 | /** Creates an instance of the HBridge class |
p07gbar | 0:16208393c7ae | 43 | * |
p07gbar | 0:16208393c7ae | 44 | * @param A The pin the "A" line is connected to (naming taken from the L293D). |
p07gbar | 0:16208393c7ae | 45 | * @param B The pin the "B" line is connected to (naming taken from the L293D). |
p07gbar | 0:16208393c7ae | 46 | * @param en The pin the enable line is connected to.] |
p07gbar | 0:16208393c7ae | 47 | */ |
p07gbar | 0:16208393c7ae | 48 | HBridge(PinName A, PinName B, PinName en); |
p07gbar | 0:16208393c7ae | 49 | |
p07gbar | 0:16208393c7ae | 50 | /** Hard stops the motor |
p07gbar | 0:16208393c7ae | 51 | */ |
p07gbar | 0:16208393c7ae | 52 | void stop(); |
p07gbar | 0:16208393c7ae | 53 | |
p07gbar | 0:16208393c7ae | 54 | /** Starts the motor |
p07gbar | 0:16208393c7ae | 55 | */ |
p07gbar | 0:16208393c7ae | 56 | void start(); |
p07gbar | 0:16208393c7ae | 57 | |
p07gbar | 0:16208393c7ae | 58 | /** Sets the PWM output of the enable pin and therefore the speed of the motor |
p07gbar | 0:16208393c7ae | 59 | * |
p07gbar | 0:16208393c7ae | 60 | * @param speed_in The float value of the desired speed between -1 and 1 |
p07gbar | 0:16208393c7ae | 61 | */ |
p07gbar | 0:16208393c7ae | 62 | void speed(float speed_in); |
p07gbar | 0:16208393c7ae | 63 | |
p07gbar | 0:16208393c7ae | 64 | /** Turn off and on the enable pin |
p07gbar | 0:16208393c7ae | 65 | * |
p07gbar | 0:16208393c7ae | 66 | * @param onoff Enable the motor or not (on(true)) |
p07gbar | 0:16208393c7ae | 67 | */ |
p07gbar | 0:16208393c7ae | 68 | void power(bool onoff); |
p07gbar | 0:16208393c7ae | 69 | |
p07gbar | 0:16208393c7ae | 70 | /** Set the pwm value of the enable pin |
p07gbar | 0:16208393c7ae | 71 | * |
p07gbar | 0:16208393c7ae | 72 | * @param power_in The value of the pwm enable pins |
p07gbar | 0:16208393c7ae | 73 | */ |
p07gbar | 0:16208393c7ae | 74 | void power(float power_in); |
p07gbar | 0:16208393c7ae | 75 | |
p07gbar | 0:16208393c7ae | 76 | /** Soft stop the motor |
p07gbar | 0:16208393c7ae | 77 | */ |
p07gbar | 0:16208393c7ae | 78 | void soft_stop(); |
p07gbar | 0:16208393c7ae | 79 | |
p07gbar | 0:16208393c7ae | 80 | /** Go forward, starts the motor |
p07gbar | 0:16208393c7ae | 81 | */ |
p07gbar | 0:16208393c7ae | 82 | void forward(); |
p07gbar | 0:16208393c7ae | 83 | |
p07gbar | 0:16208393c7ae | 84 | /** Go backward, starts the motor |
p07gbar | 0:16208393c7ae | 85 | */ |
p07gbar | 0:16208393c7ae | 86 | void backward(); |
p07gbar | 0:16208393c7ae | 87 | |
p07gbar | 0:16208393c7ae | 88 | /** Go forward, starts the motor |
p07gbar | 0:16208393c7ae | 89 | * |
p07gbar | 0:16208393c7ae | 90 | * @param speed_in The float value of the desired speed between 0 and 1 |
p07gbar | 0:16208393c7ae | 91 | */ |
p07gbar | 0:16208393c7ae | 92 | void forward(float speed_in); |
p07gbar | 0:16208393c7ae | 93 | |
p07gbar | 0:16208393c7ae | 94 | /** Go backward, starts the motor |
p07gbar | 0:16208393c7ae | 95 | * |
p07gbar | 0:16208393c7ae | 96 | * @param speed_in The float value of the desired speed between 0 and 1 |
p07gbar | 0:16208393c7ae | 97 | */ |
p07gbar | 0:16208393c7ae | 98 | void backward(float speed_in); |
p07gbar | 0:16208393c7ae | 99 | |
p07gbar | 0:16208393c7ae | 100 | /** Set A high or low |
p07gbar | 0:16208393c7ae | 101 | * |
p07gbar | 0:16208393c7ae | 102 | * @param highlow Set the high/low state of the A half-bridge (high(true)) |
p07gbar | 0:16208393c7ae | 103 | */ |
p07gbar | 0:16208393c7ae | 104 | void A(bool highlow); |
p07gbar | 0:16208393c7ae | 105 | |
p07gbar | 0:16208393c7ae | 106 | /** Set B high or low |
p07gbar | 0:16208393c7ae | 107 | * |
p07gbar | 0:16208393c7ae | 108 | * @param highlow Set the high/low state of the B half-bridge (high(true)) |
p07gbar | 0:16208393c7ae | 109 | */ |
p07gbar | 0:16208393c7ae | 110 | void B(bool highlow); |
p07gbar | 0:16208393c7ae | 111 | |
p07gbar | 0:16208393c7ae | 112 | /** Set the direction of travel |
p07gbar | 0:16208393c7ae | 113 | * |
p07gbar | 0:16208393c7ae | 114 | * @param direction_in Forward = true |
p07gbar | 0:16208393c7ae | 115 | */ |
p07gbar | 0:16208393c7ae | 116 | void direction(bool direction_in); |
p07gbar | 0:16208393c7ae | 117 | |
p07gbar | 0:16208393c7ae | 118 | |
p07gbar | 0:16208393c7ae | 119 | private: |
p07gbar | 0:16208393c7ae | 120 | PwmOut enable; |
p07gbar | 0:16208393c7ae | 121 | DigitalOut Adrive; |
p07gbar | 0:16208393c7ae | 122 | DigitalOut Bdrive; |
p07gbar | 0:16208393c7ae | 123 | |
p07gbar | 0:16208393c7ae | 124 | bool power_status; |
p07gbar | 0:16208393c7ae | 125 | float speed_value; |
p07gbar | 0:16208393c7ae | 126 | bool A_value; |
p07gbar | 0:16208393c7ae | 127 | bool B_value; |
p07gbar | 0:16208393c7ae | 128 | bool stored_direction; |
p07gbar | 0:16208393c7ae | 129 | |
p07gbar | 0:16208393c7ae | 130 | void set(); |
p07gbar | 0:16208393c7ae | 131 | |
p07gbar | 0:16208393c7ae | 132 | |
p07gbar | 0:16208393c7ae | 133 | }; |
p07gbar | 0:16208393c7ae | 134 | |
p07gbar | 0:16208393c7ae | 135 | |
p07gbar | 0:16208393c7ae | 136 | |
p07gbar | 0:16208393c7ae | 137 | #endif |