Aditya Mehrotra / MotorShield_gen2

Updated for the next revision of the motor board

MotorShield.cpp@1:4c3c2b7337a6, 2020-08-25 (annotated)

Committer:
elijahsj
Date:
Tue Aug 25 23:38:26 2020 +0000
Revision:
1:4c3c2b7337a6
Parent:
0:f2ede00aed8a
Child:
3:2f46953e7c8b
Fixed HAL libraries;

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 1:4c3c2b7337a6 7 #include "HardwareSetup.h"
elijahsj 1:4c3c2b7337a6 8
elijahsj 1:4c3c2b7337a6 9 //GPIOStruct gpio;
elijahsj 0:f2ede00aed8a 10
elijahsj 0:f2ede00aed8a 11 MotorShield::MotorShield(PinName forwardPin, PinName reversePin) {
elijahsj 1:4c3c2b7337a6 12
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 1:4c3c2b7337a6 18
elijahsj 1:4c3c2b7337a6 19 //Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
elijahsj 1:4c3c2b7337a6 20 //wait_us(100);
elijahsj 1:4c3c2b7337a6 21
elijahsj 1:4c3c2b7337a6 22 //TIM12->CCR2 = (PWM_ARR>>1)*(0.5f);
elijahsj 1:4c3c2b7337a6 23 //TIM12->CCR1 = (PWM_ARR>>1)*(0.5f);
elijahsj 1:4c3c2b7337a6 24
elijahsj 0:f2ede00aed8a 25 direction_val = 0;
elijahsj 0:f2ede00aed8a 26 duty_cycle_val = 0;
elijahsj 0:f2ede00aed8a 27 period_val = 10.0;
elijahsj 0:f2ede00aed8a 28
elijahsj 0:f2ede00aed8a 29 }
elijahsj 0:f2ede00aed8a 30
elijahsj 0:f2ede00aed8a 31 void MotorShield::write(double duty_cycle) {
elijahsj 0:f2ede00aed8a 32 duty_cycle_val = duty_cycle;
elijahsj 0:f2ede00aed8a 33 writePWM();
elijahsj 0:f2ede00aed8a 34 }
elijahsj 0:f2ede00aed8a 35
elijahsj 0:f2ede00aed8a 36 void MotorShield::period(double period) {
elijahsj 0:f2ede00aed8a 37 period_val = period;
elijahsj 0:f2ede00aed8a 38 writePWM();
elijahsj 0:f2ede00aed8a 39 }
elijahsj 0:f2ede00aed8a 40
elijahsj 0:f2ede00aed8a 41 void MotorShield::direction(int direction) {
elijahsj 0:f2ede00aed8a 42 direction_val = direction;
elijahsj 0:f2ede00aed8a 43 writePWM();
elijahsj 0:f2ede00aed8a 44 }
elijahsj 0:f2ede00aed8a 45
elijahsj 0:f2ede00aed8a 46 void MotorShield::writePWM(){
elijahsj 0:f2ede00aed8a 47 if (direction_val == 0){
elijahsj 1:4c3c2b7337a6 48 //forward.period_us(period_val);
elijahsj 1:4c3c2b7337a6 49 //forward.write(duty_cycle_val);
elijahsj 1:4c3c2b7337a6 50 //reverse.period_us(period_val);
elijahsj 1:4c3c2b7337a6 51 //reverse.write(0);
elijahsj 0:f2ede00aed8a 52 }
elijahsj 0:f2ede00aed8a 53 else{
elijahsj 1:4c3c2b7337a6 54 //reverse.period_us(period_val);
elijahsj 1:4c3c2b7337a6 55 //reverse.write(duty_cycle_val);
elijahsj 1:4c3c2b7337a6 56 //forward.period_us(period_val);
elijahsj 1:4c3c2b7337a6 57 //forward.write(0);
elijahsj 0:f2ede00aed8a 58 }
elijahsj 0:f2ede00aed8a 59 }
elijahsj 0:f2ede00aed8a 60