amin omar / Mbed 2 deprecated Motorslam

Motor class for the robot

Dependencies:   mbed

Dependents:   TEST_ENCODER

Motorslam.h@0:550e01736339, 2016-05-04 (annotated)

Committer:
aminomar
Date:
Wed May 04 18:47:50 2016 +0000
Revision:
0:550e01736339
motor;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aminomar 0:550e01736339 1 /**
aminomar 0:550e01736339 2 header file for motor, edit later
aminomar 0:550e01736339 3 EDIT THE PWM FOR BOTH MOTOR
aminomar 0:550e01736339 4 motorInit()
aminomar 0:550e01736339 5 */
aminomar 0:550e01736339 6 #ifndef MOTORSLAM_H
aminomar 0:550e01736339 7 #define MOTORSLAM_H
aminomar 0:550e01736339 8
aminomar 0:550e01736339 9 //mbed libraries//
aminomar 0:550e01736339 10 #include "mbed.h"
aminomar 0:550e01736339 11
aminomar 0:550e01736339 12 #define DEFAULT_PWM_PERIOD (0.001) // 1 KHz
aminomar 0:550e01736339 13 #define DEFAULT_PWM_PULSEWIDTH (0.50) // 50% duty cycle
aminomar 0:550e01736339 14
aminomar 0:550e01736339 15 /** Interface created to control left and right motors of SLAM robot
aminomar 0:550e01736339 16 * TB6612FNG is the motor driver(H-bridge,dual motor driver)
aminomar 0:550e01736339 17 */
aminomar 0:550e01736339 18
aminomar 0:550e01736339 19 class Motorslam {
aminomar 0:550e01736339 20 public: //Any class can refer to the field or call the method in it
aminomar 0:550e01736339 21 /** Create an interface to connect TB6612FNG with mbed LPC1768
aminomar 0:550e01736339 22 * @param pwmLeft, PWM output from mbed is channelled to Left Motor to control speed
aminomar 0:550e01736339 23 * @param leftIn1, DigitalOut1 pin of mbed set to HIGH(1) to move motor forward
aminomar 0:550e01736339 24 * @param leftIn2, DigitalOut2 pin of mbed set to HIGH(1) to move motor backwards
aminomar 0:550e01736339 25 */
aminomar 0:550e01736339 26 Motorslam( PinName pinPwmLeft, PinName pinLeftIn1, PinName pinLeftIn2,
aminomar 0:550e01736339 27 PinName pinPwmRight, PinName pinRightIn1, PinName pinRightIn2,
aminomar 0:550e01736339 28 PinName pinNStby);
aminomar 0:550e01736339 29
aminomar 0:550e01736339 30 /** Set the speed of the motor
aminomar 0:550e01736339 31 *
aminomar 0:550e01736339 32 * @param speed The speed of the motor is normalised between -1.0 and 1.0
aminomar 0:550e01736339 33 */
aminomar 0:550e01736339 34
aminomar 0:550e01736339 35 void init();
aminomar 0:550e01736339 36 void setPwmLeft(float fPeriod, float fPulsewidth);
aminomar 0:550e01736339 37 void setPwmLeftperiod(float fPeriod);
aminomar 0:550e01736339 38 void setPwmLeftpulsewidth(float fPulsewidth);
aminomar 0:550e01736339 39
aminomar 0:550e01736339 40 void setPwmRight(float fPeriod, float fPulsewidth);
aminomar 0:550e01736339 41 void setPwmRightperiod(float fPeriod);
aminomar 0:550e01736339 42 void setPwmRightpulsewidth(float fPulsewidth);
aminomar 0:550e01736339 43
aminomar 0:550e01736339 44 void standby(void);
aminomar 0:550e01736339 45
aminomar 0:550e01736339 46 void motorLeft_stop(void);
aminomar 0:550e01736339 47 void motorLeft_cw(void);
aminomar 0:550e01736339 48 void motorLeft_ccw(void);
aminomar 0:550e01736339 49
aminomar 0:550e01736339 50 void motorRight_stop(void);
aminomar 0:550e01736339 51 void motorRight_cw(void);
aminomar 0:550e01736339 52 void motorRight_ccw(void);
aminomar 0:550e01736339 53
aminomar 0:550e01736339 54 void moveStop(void);
aminomar 0:550e01736339 55 void moveForward(void);
aminomar 0:550e01736339 56 void moveBackward(void);
aminomar 0:550e01736339 57 void moveLeft(void);
aminomar 0:550e01736339 58 void moveRight(void);
aminomar 0:550e01736339 59
aminomar 0:550e01736339 60
aminomar 0:550e01736339 61 private:
aminomar 0:550e01736339 62 PwmOut pwmLeft;
aminomar 0:550e01736339 63 DigitalOut leftIn1;
aminomar 0:550e01736339 64 DigitalOut leftIn2;
aminomar 0:550e01736339 65 PwmOut pwmRight;
aminomar 0:550e01736339 66 DigitalOut rightIn1;
aminomar 0:550e01736339 67 DigitalOut rightIn2;
aminomar 0:550e01736339 68 DigitalOut nStby;
aminomar 0:550e01736339 69 };
aminomar 0:550e01736339 70 #endif
aminomar 0:550e01736339 71
aminomar 0:550e01736339 72 /**
aminomar 0:550e01736339 73 * #include "mbed.h"
aminomar 0:550e01736339 74 * #include "Motorslam.h"
aminomar 0:550e01736339 75 *
aminomar 0:550e01736339 76 * TB6612FNG motor( p22, p5, p6,
aminomar 0:550e01736339 77 * p21, p7, p8,
aminomar 0:550e01736339 78 * p18 );
aminomar 0:550e01736339 79 * float fPwmPeriod;
aminomar 0:550e01736339 80 * float fPwmPulsewidth;
aminomar 0:550e01736339 81 *
aminomar 0:550e01736339 82 * int main()
aminomar 0:550e01736339 83 * {
aminomar 0:550e01736339 84 * fPwmPeriod = 0.001f; // 1KHz
aminomar 0:550e01736339 85 * fPwmPulsewidth = 0.50; // 50% duty cycle
aminomar 0:550e01736339 86 * motor.setPwmLeftperiod(fPwmPeriod);
aminomar 0:550e01736339 87 * motor.setPwmLeftpulsewidth(fPwmPulsewidth);
aminomar 0:550e01736339 88 * motor.setPwmRightperiod(fPwmPeriod);
aminomar 0:550e01736339 89 * motor.setPwmRightpulsewidth(fPwmPulsewidth);
aminomar 0:550e01736339 90 *
aminomar 0:550e01736339 91 * while(1)
aminomar 0:550e01736339 92 * {
aminomar 0:550e01736339 93 * motor.motorLeft_ccw();
aminomar 0:550e01736339 94 * wait(2);
aminomar 0:550e01736339 95 * motor.motorLeft_cw();
aminomar 0:550e01736339 96 * wait(2);
aminomar 0:550e01736339 97 * motor.motorLeft_stop();
aminomar 0:550e01736339 98 * wait(2);
aminomar 0:550e01736339 99 * motor.motorRight_ccw();
aminomar 0:550e01736339 100 * wait(2);
aminomar 0:550e01736339 101 * motor.motorRight_cw();
aminomar 0:550e01736339 102 * wait(2);
aminomar 0:550e01736339 103 * motor.motorRight_stop();
aminomar 0:550e01736339 104 * wait(2);
aminomar 0:550e01736339 105 * }
aminomar 0:550e01736339 106 * }
aminomar 0:550e01736339 107 */
aminomar 0:550e01736339 108
aminomar 0:550e01736339 109 //OR//
aminomar 0:550e01736339 110
aminomar 0:550e01736339 111 /**
aminomar 0:550e01736339 112 #include "mbed.h"
aminomar 0:550e01736339 113 #include "Motorslam.h"
aminomar 0:550e01736339 114
aminomar 0:550e01736339 115 Motorslam motor( p22, p5, p6,
aminomar 0:550e01736339 116 p21, p7, p8,
aminomar 0:550e01736339 117 p18 );
aminomar 0:550e01736339 118 float fPwmPeriod;
aminomar 0:550e01736339 119 float fPwmPulsewidth;
aminomar 0:550e01736339 120
aminomar 0:550e01736339 121 void moveStop(void);
aminomar 0:550e01736339 122 void moveForward(void);
aminomar 0:550e01736339 123 void moveBackward(void);
aminomar 0:550e01736339 124 void moveLeft(void);
aminomar 0:550e01736339 125 void moveRight(void);
aminomar 0:550e01736339 126
aminomar 0:550e01736339 127 int main()
aminomar 0:550e01736339 128 {
aminomar 0:550e01736339 129 fPwmPeriod = 0.001f; // 1KHz
aminomar 0:550e01736339 130 fPwmPulsewidth = 0.50; // 50% duty cycle
aminomar 0:550e01736339 131 motor.setPwmLeftperiod(fPwmPeriod);
aminomar 0:550e01736339 132 motor.setPwmRightperiod(fPwmPeriod);
aminomar 0:550e01736339 133 motor.setPwmLeftpulsewidth(fPwmPulsewidth);
aminomar 0:550e01736339 134 motor.setPwmRightpulsewidth(fPwmPulsewidth);
aminomar 0:550e01736339 135
aminomar 0:550e01736339 136 while(1)
aminomar 0:550e01736339 137 {
aminomar 0:550e01736339 138 moveForward();
aminomar 0:550e01736339 139 wait(2);
aminomar 0:550e01736339 140 moveBackward();
aminomar 0:550e01736339 141 wait(2);
aminomar 0:550e01736339 142 moveStop();
aminomar 0:550e01736339 143 }
aminomar 0:550e01736339 144 }
aminomar 0:550e01736339 145
aminomar 0:550e01736339 146 void moveStop(void)
aminomar 0:550e01736339 147 {
aminomar 0:550e01736339 148 motor.standby();
aminomar 0:550e01736339 149 }
aminomar 0:550e01736339 150
aminomar 0:550e01736339 151 void moveForward(void)
aminomar 0:550e01736339 152 {
aminomar 0:550e01736339 153 motor.motorLeft_cw();
aminomar 0:550e01736339 154 motor.motorRight_cw();
aminomar 0:550e01736339 155 }
aminomar 0:550e01736339 156
aminomar 0:550e01736339 157 void moveBackward(void)
aminomar 0:550e01736339 158 {
aminomar 0:550e01736339 159 motor.motorLeft_ccw();
aminomar 0:550e01736339 160 motor.motorRight_ccw();
aminomar 0:550e01736339 161 }
aminomar 0:550e01736339 162 void moveLeft(void)
aminomar 0:550e01736339 163 {
aminomar 0:550e01736339 164 motor.motorLeft_ccw();
aminomar 0:550e01736339 165 motor.motorRight_cw();
aminomar 0:550e01736339 166 }
aminomar 0:550e01736339 167 void moveRight(void)
aminomar 0:550e01736339 168 {
aminomar 0:550e01736339 169 motor.motorLeft_cw();
aminomar 0:550e01736339 170 motor.motorRight_ccw();
aminomar 0:550e01736339 171 }
aminomar 0:550e01736339 172 */