Aaron Berk / Motor

Control a DC motor via a standard H-bridge using a PwmOut pin to control speed and two DigitalOut pins to control direction. Can change pwm period on the PwmOut pin, and also brake high or low.

Dependents:   SimpleRover PIDRover IMURover incrementalencoder-pid-robot ... more

Motor.h@1:c75b234558af, 2010-09-07 (annotated)

Committer:
aberk
Date:
Tue Sep 07 11:21:42 2010 +0000
Revision:
1:c75b234558af
Parent:
0:f05e09f8f5d9 
Added functionality to brake high or low.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aberk 0:f05e09f8f5d9 1 /* mbed simple H-bridge motor controller
aberk 0:f05e09f8f5d9 2 * Copyright (c) 2007-2010, sford
aberk 0:f05e09f8f5d9 3 *
aberk 0:f05e09f8f5d9 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
aberk 0:f05e09f8f5d9 5 * of this software and associated documentation files (the "Software"), to deal
aberk 0:f05e09f8f5d9 6 * in the Software without restriction, including without limitation the rights
aberk 0:f05e09f8f5d9 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
aberk 0:f05e09f8f5d9 8 * copies of the Software, and to permit persons to whom the Software is
aberk 0:f05e09f8f5d9 9 * furnished to do so, subject to the following conditions:
aberk 0:f05e09f8f5d9 10 *
aberk 0:f05e09f8f5d9 11 * The above copyright notice and this permission notice shall be included in
aberk 0:f05e09f8f5d9 12 * all copies or substantial portions of the Software.
aberk 0:f05e09f8f5d9 13 *
aberk 0:f05e09f8f5d9 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
aberk 0:f05e09f8f5d9 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
aberk 0:f05e09f8f5d9 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
aberk 0:f05e09f8f5d9 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
aberk 0:f05e09f8f5d9 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
aberk 0:f05e09f8f5d9 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
aberk 0:f05e09f8f5d9 20 * THE SOFTWARE.
aberk 0:f05e09f8f5d9 21 */
aberk 0:f05e09f8f5d9 22
aberk 0:f05e09f8f5d9 23 #ifndef MBED_MOTOR_H
aberk 0:f05e09f8f5d9 24 #define MBED_MOTOR_H
aberk 0:f05e09f8f5d9 25
aberk 0:f05e09f8f5d9 26 #include "mbed.h"
aberk 0:f05e09f8f5d9 27
aberk 1:c75b234558af 28 #define BRAKE_HIGH 1
aberk 1:c75b234558af 29 #define BRAKE_LOW 0
aberk 1:c75b234558af 30
aberk 0:f05e09f8f5d9 31 /** Interface to control a standard DC motor
aberk 0:f05e09f8f5d9 32 * with an H-bridge using a PwmOut and 2 DigitalOuts
aberk 0:f05e09f8f5d9 33 */
aberk 0:f05e09f8f5d9 34 class Motor {
aberk 0:f05e09f8f5d9 35 public:
aberk 0:f05e09f8f5d9 36
aberk 0:f05e09f8f5d9 37 /** Create a motor control interface
aberk 0:f05e09f8f5d9 38 *
aberk 0:f05e09f8f5d9 39 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
aberk 0:f05e09f8f5d9 40 * @param fwd A DigitalOut, set high when the motor should go forward
aberk 0:f05e09f8f5d9 41 * @param rev A DigitalOut, set high when the motor should go backwards
aberk 0:f05e09f8f5d9 42 */
aberk 0:f05e09f8f5d9 43 Motor(PinName pwm, PinName fwd, PinName rev);
aberk 0:f05e09f8f5d9 44
aberk 0:f05e09f8f5d9 45 /** Set the speed of the motor
aberk 0:f05e09f8f5d9 46 *
aberk 0:f05e09f8f5d9 47 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
aberk 0:f05e09f8f5d9 48 */
aberk 0:f05e09f8f5d9 49 void speed(float speed);
aberk 0:f05e09f8f5d9 50
aberk 0:f05e09f8f5d9 51 /** Set the period of the pwm duty cycle.
aberk 0:f05e09f8f5d9 52 *
aberk 0:f05e09f8f5d9 53 * Wrapper for PwmOut::period()
aberk 0:f05e09f8f5d9 54 *
aberk 0:f05e09f8f5d9 55 * @param seconds - Pwm duty cycle in seconds.
aberk 0:f05e09f8f5d9 56 */
aberk 0:f05e09f8f5d9 57 void period(float period);
aberk 1:c75b234558af 58
aberk 1:c75b234558af 59 /** Brake the H-bridge to GND or VCC.
aberk 1:c75b234558af 60 *
aberk 1:c75b234558af 61 * Defaults to breaking to VCC.
aberk 1:c75b234558af 62 *
aberk 1:c75b234558af 63 * Brake to GND => inA = inB = 0
aberk 1:c75b234558af 64 * Brake to VCC => inA = inB = 1
aberk 1:c75b234558af 65 */
aberk 1:c75b234558af 66 void brake(int highLow = BRAKE_HIGH);
aberk 0:f05e09f8f5d9 67
aberk 0:f05e09f8f5d9 68 protected:
aberk 0:f05e09f8f5d9 69 PwmOut _pwm;
aberk 0:f05e09f8f5d9 70 DigitalOut _fwd;
aberk 0:f05e09f8f5d9 71 DigitalOut _rev;
aberk 0:f05e09f8f5d9 72
aberk 0:f05e09f8f5d9 73 };
aberk 0:f05e09f8f5d9 74
aberk 0:f05e09f8f5d9 75 #endif