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@0:f2ede00aed8a, 2020-08-24 (annotated)

Committer:
elijahsj
Date:
Mon Aug 24 20:19:03 2020 +0000
Revision:
0:f2ede00aed8a
Child:
1:4c3c2b7337a6
Initial class structure;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elijahsj 0:f2ede00aed8a 1 /* Library to interface with 2.74 Motor Shield
elijahsj 0:f2ede00aed8a 2 ** Uses a modified version of FastPWM library to improve PWM accuracy
elijahsj 0:f2ede00aed8a 3 */
elijahsj 0:f2ede00aed8a 4
elijahsj 0:f2ede00aed8a 5 #include "mbed.h"
elijahsj 0:f2ede00aed8a 6 #include "MotorShield.h"
elijahsj 0:f2ede00aed8a 7 #include "FastPWM.h"
elijahsj 0:f2ede00aed8a 8
elijahsj 0:f2ede00aed8a 9 MotorShield::MotorShield(PinName forwardPin, PinName reversePin) {
elijahsj 0:f2ede00aed8a 10
elijahsj 0:f2ede00aed8a 11 FastPWM forward(forwardPin, 1);
elijahsj 0:f2ede00aed8a 12 FastPWM reverse(reversePin, 1);
elijahsj 0:f2ede00aed8a 13 init();
elijahsj 0:f2ede00aed8a 14 }
elijahsj 0:f2ede00aed8a 15
elijahsj 0:f2ede00aed8a 16 void MotorShield::init() {
elijahsj 0:f2ede00aed8a 17 /** Initial config for the STM32H743 **/
elijahsj 0:f2ede00aed8a 18 direction_val = 0;
elijahsj 0:f2ede00aed8a 19 duty_cycle_val = 0;
elijahsj 0:f2ede00aed8a 20 period_val = 10.0;
elijahsj 0:f2ede00aed8a 21
elijahsj 0:f2ede00aed8a 22 }
elijahsj 0:f2ede00aed8a 23
elijahsj 0:f2ede00aed8a 24 void MotorShield::write(double duty_cycle) {
elijahsj 0:f2ede00aed8a 25 duty_cycle_val = duty_cycle;
elijahsj 0:f2ede00aed8a 26 writePWM();
elijahsj 0:f2ede00aed8a 27 }
elijahsj 0:f2ede00aed8a 28
elijahsj 0:f2ede00aed8a 29 void MotorShield::period(double period) {
elijahsj 0:f2ede00aed8a 30 period_val = period;
elijahsj 0:f2ede00aed8a 31 writePWM();
elijahsj 0:f2ede00aed8a 32 }
elijahsj 0:f2ede00aed8a 33
elijahsj 0:f2ede00aed8a 34 void MotorShield::direction(int direction) {
elijahsj 0:f2ede00aed8a 35 direction_val = direction;
elijahsj 0:f2ede00aed8a 36 writePWM();
elijahsj 0:f2ede00aed8a 37 }
elijahsj 0:f2ede00aed8a 38
elijahsj 0:f2ede00aed8a 39 void MotorShield::writePWM(){
elijahsj 0:f2ede00aed8a 40 if (direction_val == 0){
elijahsj 0:f2ede00aed8a 41 forward.period_us(period_val);
elijahsj 0:f2ede00aed8a 42 forward.write(duty_cycle_val);
elijahsj 0:f2ede00aed8a 43 reverse.period_us(period_val);
elijahsj 0:f2ede00aed8a 44 reverse.write(0);
elijahsj 0:f2ede00aed8a 45 }
elijahsj 0:f2ede00aed8a 46 else{
elijahsj 0:f2ede00aed8a 47 reverse.period_us(period_val);
elijahsj 0:f2ede00aed8a 48 reverse.write(duty_cycle_val);
elijahsj 0:f2ede00aed8a 49 forward.period_us(period_val);
elijahsj 0:f2ede00aed8a 50 forward.write(0);
elijahsj 0:f2ede00aed8a 51 }
elijahsj 0:f2ede00aed8a 52 }
elijahsj 0:f2ede00aed8a 53