Mateusz Grzywacz / Yellow2WheeledRobot_motor_shield

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YellowMotors.h@5:6dbb019203e9, 2016-02-05 (annotated)

Committer:
amateusz
Date:
Fri Feb 05 16:28:29 2016 +0000
Revision:
5:6dbb019203e9
Parent:
4:aef786c67b2d 
There is now a class for the shield as a whole, which makes managing easy. The whole thing have been rewritten.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amateusz 2:6f6e591f1838 1 #ifndef YELLOWMOTORS_H
amateusz 2:6f6e591f1838 2 #define YELLOWMOTORS_H
amateusz 0:85e85976c650 3
amateusz 3:c656543830df 4 #define L_F 0x4
amateusz 3:c656543830df 5 #define L_B 0x8
amateusz 3:c656543830df 6 #define R_F 0x2
amateusz 3:c656543830df 7 #define R_B 0x10
amateusz 3:c656543830df 8
amateusz 2:6f6e591f1838 9 #include "mbed.h"
amateusz 2:6f6e591f1838 10 extern Serial pc;
amateusz 1:85961b2af06e 11 // this is rather strange case, because my motors aren't performing both well. Left one has far weaker, causing delayed start-up and lower RPM. Thus my functions differ. I have a whole bigass spreadsheet of graphs and calculations by the way.
amateusz 2:6f6e591f1838 12 float motorLinearizationL(float); // left motor is worse. at max desired speed it'll run at full 100% speed. this is thus weaker compensation.
amateusz 2:6f6e591f1838 13 float motorLinearizationR(float); // this is stronger compensation for more powerful motor. it runs it at < 100% speed
amateusz 2:6f6e591f1838 14
amateusz 3:c656543830df 15 class YellowMotors // this class represents a shield. It's job is to control directions shift register and to forward received speed commands to aproprieate motors.
amateusz 3:c656543830df 16 // The motors are objects of nested class MotorItself. The goal was to call methods directly on motors, but since they require different direcion regiter macros and linearizing functions, I made them to be private and accesible only through the parent YelloMotors object.
amateusz 3:c656543830df 17 // It could that the motors get pointers to their linearization functions and macros at the initalization, but, meh, I'm not that passionate about C++.
amateusz 2:6f6e591f1838 18 {
amateusz 2:6f6e591f1838 19 private:
amateusz 4:aef786c67b2d 20 DigitalOut *_led; // debug diode. lights up during shifting to register
amateusz 2:6f6e591f1838 21 DigitalOut _clk;
amateusz 2:6f6e591f1838 22 DigitalOut _lat;
amateusz 2:6f6e591f1838 23 DigitalOut _dat;
amateusz 2:6f6e591f1838 24 DigitalOut _ena; // OE active LOW
amateusz 2:6f6e591f1838 25 char _directions;
amateusz 2:6f6e591f1838 26 PinName Lpwm;
amateusz 2:6f6e591f1838 27 PinName Rpwm;
amateusz 4:aef786c67b2d 28 void _init();
amateusz 3:c656543830df 29 class MotorItself // define a class for separate motors objects.
amateusz 2:6f6e591f1838 30 {
amateusz 2:6f6e591f1838 31 private:
amateusz 3:c656543830df 32
amateusz 3:c656543830df 33 public:
amateusz 2:6f6e591f1838 34 PwmOut _pwmPin;
amateusz 2:6f6e591f1838 35 float _pwmSigned; // signed with direction
amateusz 5:6dbb019203e9 36 int speed; // to be done
amateusz 3:c656543830df 37 MotorItself() : _pwmPin(NC) {};
amateusz 3:c656543830df 38 MotorItself(PinName pwmPin): _pwmPin(pwmPin) {}; // fuck you, you default constructor.
amateusz 3:c656543830df 39 /*
amateusz 3:c656543830df 40 explicit MotorItself(float value): _pwmPin(D0) { // _pwmPin(FUCKYOU) , pwm has no default constructor.. JEEEZ. that messes up the whole instance.
amateusz 2:6f6e591f1838 41 this->_pwmSigned = value; // store this value;
amateusz 2:6f6e591f1838 42 //_pwmPin = abs(value); // to be done: apply linearization
amateusz 2:6f6e591f1838 43 pc.printf("explicit glupi/n/r");
amateusz 2:6f6e591f1838 44 }
amateusz 3:c656543830df 45 */
amateusz 2:6f6e591f1838 46 //operator float();
amateusz 2:6f6e591f1838 47 void operator= (const float value) {
amateusz 2:6f6e591f1838 48 this->_pwmSigned = value; // store this value;
amateusz 3:c656543830df 49 this->_pwmPin.write(value); // to be done: apply linearization
amateusz 3:c656543830df 50 //pc.printf("jestem w operatorze =. przypisuje %.2f. odczyt: %f\n\r", abs(value), _pwmPin.read());
amateusz 2:6f6e591f1838 51 };
amateusz 2:6f6e591f1838 52 bool operator== ( float value) {
amateusz 2:6f6e591f1838 53 return abs(this->_pwmSigned) == value ;
amateusz 2:6f6e591f1838 54 }
amateusz 2:6f6e591f1838 55 //float operator= (const motorItself & toreturn) {
amateusz 2:6f6e591f1838 56 // return toreturn._pwmSigned; // return current desired speed with direction indication
amateusz 2:6f6e591f1838 57 //};
amateusz 2:6f6e591f1838 58 };
amateusz 3:c656543830df 59 MotorItself L, R;
amateusz 3:c656543830df 60 public:
amateusz 3:c656543830df 61 YellowMotors(PinName clk = D4, PinName lat = D12, PinName dat = D8, PinName ena = D7, PinName Lpwm = D11, PinName Rpwm = D3);
amateusz 3:c656543830df 62 void setDirections(char); // shift directions to shift register on Adafruit motor shield v1
amateusz 3:c656543830df 63 void operator= (const float value);
amateusz 5:6dbb019203e9 64 void set(float value, int whichMotor = -1); // set speed of a motor. float. second parameter is which motor. L is 0 , R is 1 , -1 is both (default)
amateusz 5:6dbb019203e9 65 float get(int whichMotor = -1); // get the value from the class, so you don't have to keep track of it by yourself
amateusz 5:6dbb019203e9 66 void attachled(DigitalOut & led); // pass an initalized DigitalOut object for a library to use it as debuging LED
amateusz 4:aef786c67b2d 67 void dettachled() {
amateusz 4:aef786c67b2d 68 delete _led;
amateusz 4:aef786c67b2d 69 } ;
amateusz 2:6f6e591f1838 70 };
amateusz 2:6f6e591f1838 71
amateusz 2:6f6e591f1838 72 #endif