Yolanda Tania / Mbed 2 deprecated PID_tangan

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Dependencies:   mbed

motor/Motor.h@0:aa8e05bc0533, 2020-02-27 (annotated)

Committer:
Yolandataniaa
Date:
Thu Feb 27 12:40:03 2020 +0000
Revision:
0:aa8e05bc0533
good pid

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yolandataniaa 0:aa8e05bc0533 1 /* mbed simple H-bridge motor controller
Yolandataniaa 0:aa8e05bc0533 2 * Copyright (c) 2007-2010, sford
Yolandataniaa 0:aa8e05bc0533 3 *
Yolandataniaa 0:aa8e05bc0533 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
Yolandataniaa 0:aa8e05bc0533 5 * of this software and associated documentation files (the "Software"), to deal
Yolandataniaa 0:aa8e05bc0533 6 * in the Software without restriction, including without limitation the rights
Yolandataniaa 0:aa8e05bc0533 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
Yolandataniaa 0:aa8e05bc0533 8 * copies of the Software, and to permit persons to whom the Software is
Yolandataniaa 0:aa8e05bc0533 9 * furnished to do so, subject to the following conditions:
Yolandataniaa 0:aa8e05bc0533 10 *
Yolandataniaa 0:aa8e05bc0533 11 * The above copyright notice and this permission notice shall be included in
Yolandataniaa 0:aa8e05bc0533 12 * all copies or substantial portions of the Software.
Yolandataniaa 0:aa8e05bc0533 13 *
Yolandataniaa 0:aa8e05bc0533 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Yolandataniaa 0:aa8e05bc0533 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Yolandataniaa 0:aa8e05bc0533 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Yolandataniaa 0:aa8e05bc0533 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Yolandataniaa 0:aa8e05bc0533 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Yolandataniaa 0:aa8e05bc0533 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
Yolandataniaa 0:aa8e05bc0533 20 * THE SOFTWARE.
Yolandataniaa 0:aa8e05bc0533 21 */
Yolandataniaa 0:aa8e05bc0533 22
Yolandataniaa 0:aa8e05bc0533 23 #ifndef MBED_MOTOR_H
Yolandataniaa 0:aa8e05bc0533 24 #define MBED_MOTOR_H
Yolandataniaa 0:aa8e05bc0533 25
Yolandataniaa 0:aa8e05bc0533 26 #include "mbed.h"
Yolandataniaa 0:aa8e05bc0533 27
Yolandataniaa 0:aa8e05bc0533 28 #define BRAKE_HIGH 1
Yolandataniaa 0:aa8e05bc0533 29 #define BRAKE_LOW 0
Yolandataniaa 0:aa8e05bc0533 30
Yolandataniaa 0:aa8e05bc0533 31 /** Interface to control a standard DC motor
Yolandataniaa 0:aa8e05bc0533 32 * with an H-bridge using a PwmOut and 2 DigitalOuts
Yolandataniaa 0:aa8e05bc0533 33 */
Yolandataniaa 0:aa8e05bc0533 34 class Motor {
Yolandataniaa 0:aa8e05bc0533 35 public:
Yolandataniaa 0:aa8e05bc0533 36
Yolandataniaa 0:aa8e05bc0533 37 /** Create a motor control interface
Yolandataniaa 0:aa8e05bc0533 38 *
Yolandataniaa 0:aa8e05bc0533 39 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
Yolandataniaa 0:aa8e05bc0533 40 * @param fwd A DigitalOut, set high when the motor should go forward
Yolandataniaa 0:aa8e05bc0533 41 * @param rev A DigitalOut, set high when the motor should go backwards
Yolandataniaa 0:aa8e05bc0533 42 */
Yolandataniaa 0:aa8e05bc0533 43 Motor(PinName pwm, PinName fwd, PinName rev);
Yolandataniaa 0:aa8e05bc0533 44
Yolandataniaa 0:aa8e05bc0533 45 /** Set the speed of the motor
Yolandataniaa 0:aa8e05bc0533 46 *
Yolandataniaa 0:aa8e05bc0533 47 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
Yolandataniaa 0:aa8e05bc0533 48 */
Yolandataniaa 0:aa8e05bc0533 49 void speed(float speed);
Yolandataniaa 0:aa8e05bc0533 50
Yolandataniaa 0:aa8e05bc0533 51 /** Set the period of the pwm duty cycle.
Yolandataniaa 0:aa8e05bc0533 52 *
Yolandataniaa 0:aa8e05bc0533 53 * Wrapper for PwmOut::period()
Yolandataniaa 0:aa8e05bc0533 54 *
Yolandataniaa 0:aa8e05bc0533 55 * @param seconds - Pwm duty cycle in seconds.
Yolandataniaa 0:aa8e05bc0533 56 */
Yolandataniaa 0:aa8e05bc0533 57 void period(float period);
Yolandataniaa 0:aa8e05bc0533 58
Yolandataniaa 0:aa8e05bc0533 59 /** Brake the H-bridge to GND or VCC.
Yolandataniaa 0:aa8e05bc0533 60 *
Yolandataniaa 0:aa8e05bc0533 61 * Defaults to breaking to VCC.
Yolandataniaa 0:aa8e05bc0533 62 *
Yolandataniaa 0:aa8e05bc0533 63 * Brake to GND => inA = inB = 0
Yolandataniaa 0:aa8e05bc0533 64 * Brake to VCC => inA = inB = 1
Yolandataniaa 0:aa8e05bc0533 65 */
Yolandataniaa 0:aa8e05bc0533 66 void brake(int highLow = BRAKE_HIGH);
Yolandataniaa 0:aa8e05bc0533 67
Yolandataniaa 0:aa8e05bc0533 68 /**
Yolandataniaa 0:aa8e05bc0533 69 *Brake lebih baik
Yolandataniaa 0:aa8e05bc0533 70 **/
Yolandataniaa 0:aa8e05bc0533 71 void forcebrake();
Yolandataniaa 0:aa8e05bc0533 72
Yolandataniaa 0:aa8e05bc0533 73 protected:
Yolandataniaa 0:aa8e05bc0533 74 PwmOut _pwm;
Yolandataniaa 0:aa8e05bc0533 75 DigitalOut _fwd;
Yolandataniaa 0:aa8e05bc0533 76 DigitalOut _rev;
Yolandataniaa 0:aa8e05bc0533 77
Yolandataniaa 0:aa8e05bc0533 78 };
Yolandataniaa 0:aa8e05bc0533 79
Yolandataniaa 0:aa8e05bc0533 80 #endif