Aditya Mehrotra / MotorShield

Motor Shield Example code for 2.74 Class @ MIT

Dependents:   experiment_example motor_shield_example Lab3_experiment_example jumping_leg_clicky

MotorShield.cpp@3:2f46953e7c8b, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 02:43:57 2020 +0000
Revision:
3:2f46953e7c8b
Parent:
1:4c3c2b7337a6
Child:
4:2b45973bdc67
finished shield code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elijahsj 0:f2ede00aed8a 1 /* Library to interface with 2.74 Motor Shield
elijahsj 3:2f46953e7c8b 2 ** Uses low level HAL libraries to enable high speed PWM
elijahsj 0:f2ede00aed8a 3 */
elijahsj 0:f2ede00aed8a 4
elijahsj 0:f2ede00aed8a 5 #include "mbed.h"
elijahsj 0:f2ede00aed8a 6 #include "MotorShield.h"
elijahsj 1:4c3c2b7337a6 7 #include "HardwareSetup.h"
elijahsj 1:4c3c2b7337a6 8
elijahsj 3:2f46953e7c8b 9 MotorShield::MotorShield(int periodTicks) {
elijahsj 3:2f46953e7c8b 10 periodTickVal = periodTicks;
elijahsj 0:f2ede00aed8a 11 init();
elijahsj 0:f2ede00aed8a 12 }
elijahsj 0:f2ede00aed8a 13
elijahsj 0:f2ede00aed8a 14 void MotorShield::init() {
elijahsj 0:f2ede00aed8a 15 /** Initial config for the STM32H743 **/
elijahsj 1:4c3c2b7337a6 16
elijahsj 3:2f46953e7c8b 17 initHardware(periodTickVal); // Setup PWM
elijahsj 3:2f46953e7c8b 18 wait_us(100);
elijahsj 1:4c3c2b7337a6 19
elijahsj 0:f2ede00aed8a 20 }
elijahsj 0:f2ede00aed8a 21
elijahsj 3:2f46953e7c8b 22 void MotorShield::motorAWrite(double duty_cycle, int direction) {
elijahsj 3:2f46953e7c8b 23 if (direction){
elijahsj 3:2f46953e7c8b 24 TIM12->CCR2 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 25 TIM12->CCR1 = 0;
elijahsj 3:2f46953e7c8b 26 }
elijahsj 3:2f46953e7c8b 27 else {
elijahsj 3:2f46953e7c8b 28 TIM12->CCR2 = 0;
elijahsj 3:2f46953e7c8b 29 TIM12->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 30 }
elijahsj 3:2f46953e7c8b 31
elijahsj 0:f2ede00aed8a 32 }
elijahsj 0:f2ede00aed8a 33
elijahsj 3:2f46953e7c8b 34 void MotorShield::motorBWrite(double duty_cycle, int direction) {
elijahsj 3:2f46953e7c8b 35 if (direction){
elijahsj 3:2f46953e7c8b 36 TIM15->CCR2 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 37 TIM15->CCR1 = 0;
elijahsj 3:2f46953e7c8b 38 }
elijahsj 3:2f46953e7c8b 39 else {
elijahsj 3:2f46953e7c8b 40 TIM15->CCR2 = 0;
elijahsj 3:2f46953e7c8b 41 TIM15->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 42 }
elijahsj 0:f2ede00aed8a 43 }
elijahsj 0:f2ede00aed8a 44
elijahsj 3:2f46953e7c8b 45 void MotorShield::motorCWrite(double duty_cycle, int direction) {
elijahsj 3:2f46953e7c8b 46 if (direction){
elijahsj 3:2f46953e7c8b 47 TIM13->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 48 TIM14->CCR1 = 0;
elijahsj 0:f2ede00aed8a 49 }
elijahsj 3:2f46953e7c8b 50 else {
elijahsj 3:2f46953e7c8b 51 TIM13->CCR1 = 0;
elijahsj 3:2f46953e7c8b 52 TIM14->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 0:f2ede00aed8a 53 }
elijahsj 0:f2ede00aed8a 54 }
elijahsj 3:2f46953e7c8b 55 void MotorShield::motorDWrite(double duty_cycle, int direction) {
elijahsj 3:2f46953e7c8b 56 if (direction){
elijahsj 3:2f46953e7c8b 57 TIM16->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 58 TIM17->CCR1 = 0;
elijahsj 3:2f46953e7c8b 59 }
elijahsj 3:2f46953e7c8b 60 else {
elijahsj 3:2f46953e7c8b 61 TIM16->CCR1 = 0;
elijahsj 3:2f46953e7c8b 62 TIM17->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 63 }
elijahsj 3:2f46953e7c8b 64 }
elijahsj 3:2f46953e7c8b 65
elijahsj 3:2f46953e7c8b 66 void MotorShield::changePeriod(int periodTicks){
elijahsj 3:2f46953e7c8b 67 periodTickVal = periodTicks;
elijahsj 3:2f46953e7c8b 68 init();
elijahsj 3:2f46953e7c8b 69 }
elijahsj 3:2f46953e7c8b 70