Aditya Mehrotra / MotorShield

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Dependents:   experiment_example motor_shield_example Lab3_experiment_example jumping_leg_clicky

MotorShield.cpp@5:d2dffc88e94d, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 14:37:16 2020 +0000
Revision:
5:d2dffc88e94d
Parent:
4:2b45973bdc67
Child:
7:e3a2ade56b79
PWM + Encoders work;

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 4:2b45973bdc67 3 ** Use as follows:
elijahsj 4:2b45973bdc67 4 ** - Create shield object and specify PWM period for the motors
elijahsj 4:2b45973bdc67 5 ** - Set the duty cycle and direction for each motor
elijahsj 0:f2ede00aed8a 6 */
elijahsj 0:f2ede00aed8a 7
elijahsj 0:f2ede00aed8a 8 #include "mbed.h"
elijahsj 0:f2ede00aed8a 9 #include "MotorShield.h"
elijahsj 1:4c3c2b7337a6 10 #include "HardwareSetup.h"
elijahsj 1:4c3c2b7337a6 11
elijahsj 3:2f46953e7c8b 12 MotorShield::MotorShield(int periodTicks) {
elijahsj 3:2f46953e7c8b 13 periodTickVal = periodTicks;
elijahsj 0:f2ede00aed8a 14 init();
elijahsj 0:f2ede00aed8a 15 }
elijahsj 0:f2ede00aed8a 16
elijahsj 0:f2ede00aed8a 17 void MotorShield::init() {
elijahsj 0:f2ede00aed8a 18 /** Initial config for the STM32H743 **/
elijahsj 1:4c3c2b7337a6 19
elijahsj 3:2f46953e7c8b 20 initHardware(periodTickVal); // Setup PWM
elijahsj 3:2f46953e7c8b 21 wait_us(100);
elijahsj 1:4c3c2b7337a6 22
elijahsj 0:f2ede00aed8a 23 }
elijahsj 0:f2ede00aed8a 24
elijahsj 5:d2dffc88e94d 25 void MotorShield::motorAWrite(float duty_cycle, int direction) {
elijahsj 5:d2dffc88e94d 26 int tick = (int)(periodTickVal * duty_cycle);
elijahsj 5:d2dffc88e94d 27
elijahsj 3:2f46953e7c8b 28 if (direction){
elijahsj 5:d2dffc88e94d 29
elijahsj 5:d2dffc88e94d 30 TIM15->CCR2 = tick;
elijahsj 5:d2dffc88e94d 31 TIM15->CCR1 = 0;
elijahsj 5:d2dffc88e94d 32
elijahsj 3:2f46953e7c8b 33 }
elijahsj 3:2f46953e7c8b 34 else {
elijahsj 5:d2dffc88e94d 35 TIM15->CCR2 = 0;
elijahsj 5:d2dffc88e94d 36 TIM15->CCR1 = tick;
elijahsj 3:2f46953e7c8b 37 }
elijahsj 3:2f46953e7c8b 38
elijahsj 0:f2ede00aed8a 39 }
elijahsj 0:f2ede00aed8a 40
elijahsj 5:d2dffc88e94d 41 void MotorShield::motorBWrite(float duty_cycle, int direction) {
elijahsj 5:d2dffc88e94d 42 int tick = (int)(periodTickVal * duty_cycle);
elijahsj 5:d2dffc88e94d 43
elijahsj 3:2f46953e7c8b 44 if (direction){
elijahsj 5:d2dffc88e94d 45 TIM12->CCR2 = tick;
elijahsj 5:d2dffc88e94d 46 TIM12->CCR1 = 0;
elijahsj 3:2f46953e7c8b 47 }
elijahsj 3:2f46953e7c8b 48 else {
elijahsj 5:d2dffc88e94d 49 TIM12->CCR2 = 0;
elijahsj 5:d2dffc88e94d 50 TIM12->CCR1 = tick;
elijahsj 3:2f46953e7c8b 51 }
elijahsj 5:d2dffc88e94d 52
elijahsj 0:f2ede00aed8a 53 }
elijahsj 0:f2ede00aed8a 54
elijahsj 5:d2dffc88e94d 55 void MotorShield::motorCWrite(float duty_cycle, int direction) {
elijahsj 5:d2dffc88e94d 56 int tick = (int)(periodTickVal * duty_cycle);
elijahsj 5:d2dffc88e94d 57
elijahsj 3:2f46953e7c8b 58 if (direction){
elijahsj 5:d2dffc88e94d 59 TIM13->CCR1 = 0;
elijahsj 5:d2dffc88e94d 60 TIM14->CCR1 = tick;
elijahsj 0:f2ede00aed8a 61 }
elijahsj 3:2f46953e7c8b 62 else {
elijahsj 5:d2dffc88e94d 63 TIM13->CCR1 = tick;
elijahsj 5:d2dffc88e94d 64 TIM14->CCR1 = 0;
elijahsj 0:f2ede00aed8a 65 }
elijahsj 0:f2ede00aed8a 66 }
elijahsj 5:d2dffc88e94d 67 void MotorShield::motorDWrite(float duty_cycle, int direction) {
elijahsj 5:d2dffc88e94d 68 int tick = (int)(periodTickVal * duty_cycle);
elijahsj 5:d2dffc88e94d 69
elijahsj 3:2f46953e7c8b 70 if (direction){
elijahsj 5:d2dffc88e94d 71 TIM16->CCR1 = tick;
elijahsj 3:2f46953e7c8b 72 TIM17->CCR1 = 0;
elijahsj 3:2f46953e7c8b 73 }
elijahsj 3:2f46953e7c8b 74 else {
elijahsj 3:2f46953e7c8b 75 TIM16->CCR1 = 0;
elijahsj 5:d2dffc88e94d 76 TIM17->CCR1 = tick;
elijahsj 3:2f46953e7c8b 77 }
elijahsj 3:2f46953e7c8b 78 }
elijahsj 3:2f46953e7c8b 79
elijahsj 3:2f46953e7c8b 80 void MotorShield::changePeriod(int periodTicks){
elijahsj 3:2f46953e7c8b 81 periodTickVal = periodTicks;
elijahsj 3:2f46953e7c8b 82 init();
elijahsj 3:2f46953e7c8b 83 }
elijahsj 3:2f46953e7c8b 84