Revision 8:46feb6919761, committed 23 months ago

Comitter:

adimmit

Date:

Fri Sep 16 01:36:38 2022 +0000

Parent:

7:e3a2ade56b79

Commit message:

updated for new motor driver

Changed in this revision

--- a/MotorShield.cpp	Wed Aug 26 23:42:07 2020 +0000
+++ b/MotorShield.cpp	Fri Sep 16 01:36:38 2022 +0000
@@ -9,6 +9,20 @@
 #include "MotorShield.h"
 #include "HardwareSetup.h"
 
+//MotorA pins
+DigitalOut enableA(PG_7);
+DigitalOut disableA(PG_4);
+//MotorB pins
+DigitalOut enableB(PE_4);
+DigitalOut disableB(PE_2);
+//MotorC pins
+DigitalOut enableC(PB_13);
+DigitalOut disableC(PB_4);
+//MotorD pins
+DigitalOut enableD(PA_14);
+DigitalOut disableD(PA_15);
+
+
 MotorShield::MotorShield(int periodTicks) {
     periodTickVal = periodTicks; 
     init();
@@ -19,7 +33,20 @@
     
     initHardware(periodTickVal);   // Setup PWM
     wait_us(100);
-        
+
+    //enable the motor A driver
+    enableA.write(1);
+    disableA.write(0);
+    //enable the motor B driver
+    enableB.write(1);
+    disableB.write(0);
+    //enable the motor C driver
+    enableC.write(1);
+    disableC.write(0);
+    //enable the motor D driver
+    enableD.write(1);
+    disableD.write(0);
+    wait_us(100);
 }
  
 void MotorShield::motorAWrite(float duty_cycle, int direction) {
@@ -28,12 +55,11 @@
     if (direction){
             
             TIM15->CCR2 = tick;
-            TIM15->CCR1 = 0;
-
+            TIM15->CCR1 = tick;
     }
     else {
             TIM15->CCR2 = 0;
-            TIM15->CCR1 = tick;
+            TIM15->CCR1 = tick; 
     }
     
 }
@@ -43,7 +69,7 @@
 
     if (direction){
             TIM12->CCR2 = tick;
-            TIM12->CCR1 = 0;
+            TIM12->CCR1 = tick;
     }
     else {
             TIM12->CCR2 = 0;
@@ -56,7 +82,7 @@
     int tick = (int)(periodTickVal * duty_cycle); 
 
     if (direction){
-            TIM13->CCR1 = 0;
+            TIM13->CCR1 = tick;
             TIM14->CCR1 = tick;
     }
     else {
@@ -68,12 +94,12 @@
     int tick = (int)(periodTickVal * duty_cycle); 
 
     if (direction){
+            TIM17->CCR1 = tick;
             TIM16->CCR1 = tick;
-            TIM17->CCR1 = 0;
     }
     else {
+            TIM17->CCR1 = tick;
             TIM16->CCR1 = 0;
-            TIM17->CCR1 = tick;
     }
 }
 
@@ -94,4 +120,3 @@
     periodTickVal = periodTicks; 
     init();
 }
-