Revision 0:550e01736339, committed 2016-05-04

Comitter:

aminomar

Date:

Wed May 04 18:47:50 2016 +0000

Commit message:

motor;

Changed in this revision

diff -r 000000000000 -r 550e01736339 Motorslam.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motorslam.cpp	Wed May 04 18:47:50 2016 +0000
@@ -0,0 +1,146 @@
+//libraries//
+#include "mbed.h"
+#include "Motorslam.h"
+
+#define SIG_HIGH    (1)
+#define SIG_LOW     (0)
+
+Motorslam::Motorslam(PinName pinPwmLeft, PinName pinLeftIn1, PinName pinLeftIn2,
+                     PinName pinPwmRight, PinName pinRightIn1, PinName pinRightIn2,
+                     PinName pinNStby):
+                   
+        pwmLeft(pinPwmLeft),
+        leftIn1(pinLeftIn1),
+        leftIn2(pinLeftIn2),
+        pwmRight(pinPwmRight),
+        rightIn1(pinRightIn1),
+        rightIn2(pinRightIn2),  
+        nStby(pinNStby)
+        {
+         leftIn1 = SIG_LOW;
+         leftIn2 = SIG_LOW;
+         rightIn1 = SIG_LOW;
+         rightIn2 = SIG_LOW;
+         nStby = SIG_LOW;
+         pwmLeft.period(DEFAULT_PWM_PERIOD);
+         pwmLeft = DEFAULT_PWM_PULSEWIDTH;
+         pwmRight.period(DEFAULT_PWM_PERIOD);
+         pwmLeft = DEFAULT_PWM_PULSEWIDTH;  
+            }
+        
+        void Motorslam::init()
+            {
+         leftIn1 = SIG_LOW;
+         leftIn2 = SIG_LOW;
+         rightIn1 = SIG_LOW;
+         rightIn2 = SIG_LOW;
+         nStby = SIG_LOW;
+         pwmLeft.period(DEFAULT_PWM_PERIOD);
+         pwmLeft = DEFAULT_PWM_PULSEWIDTH;
+         pwmRight.period(DEFAULT_PWM_PERIOD);
+         pwmLeft = DEFAULT_PWM_PULSEWIDTH; 
+                }
+            
+        void Motorslam::setPwmLeft(float fPeriod, float fPulsewidth)
+        {
+            pwmLeft.period(fPeriod);
+            pwmLeft = fPulsewidth;
+            }
+            
+        void Motorslam::setPwmLeftperiod(float fPeriod)
+        {
+            pwmLeft.period(fPeriod);
+            }
+            
+        void Motorslam::setPwmLeftpulsewidth(float fPulsewidth)
+        {
+            pwmLeft = fPulsewidth;
+            }
+         
+        void Motorslam::setPwmRight(float fPeriod, float fPulsewidth)
+        {
+            pwmRight.period(fPeriod);
+            pwmRight = fPulsewidth;
+            }
+            
+        void Motorslam::setPwmRightperiod(float fPeriod)
+        {
+            pwmRight.period(fPeriod);
+            }
+            
+        void Motorslam::setPwmRightpulsewidth(float fPulsewidth)
+        {
+            pwmRight = fPulsewidth;
+            }
+         
+        void Motorslam::standby(void)
+        {
+            nStby = SIG_LOW;
+            }
+         
+        void Motorslam::motorLeft_stop(void)
+        {
+            leftIn1 = SIG_LOW;
+            leftIn2 = SIG_LOW;
+            }
+            
+        void Motorslam::motorLeft_cw(void)
+        {
+            leftIn1 = SIG_HIGH;
+            leftIn2 = SIG_LOW;
+            nStby = SIG_HIGH;
+            }
+        void Motorslam::motorLeft_ccw(void)
+        {
+            leftIn1 = SIG_LOW;
+            leftIn2 = SIG_HIGH;
+            nStby = SIG_HIGH;
+            }
+         
+        void Motorslam::motorRight_stop(void)
+        {
+            rightIn1 = SIG_LOW;
+            rightIn2 = SIG_LOW;
+            }
+        void Motorslam::motorRight_cw(void)
+        {
+            rightIn1 = SIG_HIGH;
+            rightIn2 = SIG_LOW;
+            nStby = SIG_HIGH;
+            }
+        void Motorslam::motorRight_ccw(void)
+        {
+            rightIn1 = SIG_LOW;
+            rightIn2 = SIG_HIGH;
+            nStby = SIG_HIGH;
+            }
+     
+        void Motorslam::moveStop(void)
+        {
+           Motorslam::standby(); 
+            }
+        void Motorslam::moveForward(void)
+        {
+            Motorslam::motorLeft_cw();
+            Motorslam::motorRight_cw();
+            }
+        void Motorslam::moveBackward(void)
+        {
+            Motorslam::motorLeft_ccw();
+            Motorslam::motorRight_ccw();
+            }
+        void Motorslam::moveLeft(void)
+        {
+            Motorslam::motorLeft_ccw();
+            Motorslam::motorRight_cw();
+            wait(0.5);//trial; (0.5) for low friction(wooden floor); (0.7) for high friction
+            Motorslam::moveStop();//trial
+            }
+        void Motorslam::moveRight(void)
+        {
+            Motorslam::motorLeft_cw();
+            Motorslam::motorRight_ccw();
+            wait(0.5);//trial; (0.5) for low friction(wooden floor); (0.7) for high friction
+            Motorslam::moveStop();//trial
+            }
+            
\ No newline at end of file

diff -r 000000000000 -r 550e01736339 Motorslam.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motorslam.h	Wed May 04 18:47:50 2016 +0000
@@ -0,0 +1,172 @@
+/**
+header file for motor, edit later
+EDIT THE PWM FOR BOTH MOTOR
+motorInit()
+*/
+#ifndef MOTORSLAM_H
+#define MOTORSLAM_H
+
+//mbed libraries//
+#include "mbed.h"
+
+#define DEFAULT_PWM_PERIOD      (0.001)     // 1 KHz
+#define DEFAULT_PWM_PULSEWIDTH  (0.50)      // 50% duty cycle
+
+/** Interface created to control left and right motors of SLAM robot
+ *  TB6612FNG is the motor driver(H-bridge,dual motor driver)
+ */
+
+class Motorslam {
+    public:     //Any class can refer to the field or call the method in it        
+        /** Create an interface to connect TB6612FNG with mbed LPC1768
+         *  @param pwmLeft, PWM output from mbed is channelled to Left Motor to control speed
+         *  @param leftIn1, DigitalOut1 pin of mbed set to HIGH(1) to move motor forward
+         *  @param leftIn2, DigitalOut2 pin of mbed set to HIGH(1) to move motor backwards
+         */
+        Motorslam( PinName pinPwmLeft, PinName pinLeftIn1, PinName pinLeftIn2,
+                   PinName pinPwmRight, PinName pinRightIn1, PinName pinRightIn2,
+                   PinName pinNStby);
+        
+        /** Set the speed of the motor
+        * 
+        * @param speed The speed of the motor is normalised between -1.0 and 1.0
+        */
+        
+        void init();
+        void setPwmLeft(float fPeriod, float fPulsewidth);
+        void setPwmLeftperiod(float fPeriod);
+        void setPwmLeftpulsewidth(float fPulsewidth);
+         
+        void setPwmRight(float fPeriod, float fPulsewidth);
+        void setPwmRightperiod(float fPeriod);
+        void setPwmRightpulsewidth(float fPulsewidth);
+         
+        void standby(void);
+         
+        void motorLeft_stop(void);
+        void motorLeft_cw(void);
+        void motorLeft_ccw(void);
+         
+        void motorRight_stop(void);
+        void motorRight_cw(void);
+        void motorRight_ccw(void);
+        
+        void moveStop(void);
+        void moveForward(void);
+        void moveBackward(void);
+        void moveLeft(void);
+        void moveRight(void);
+         
+         
+    private:
+        PwmOut pwmLeft;
+        DigitalOut leftIn1;
+        DigitalOut leftIn2;
+        PwmOut pwmRight;
+        DigitalOut rightIn1;
+        DigitalOut rightIn2;
+        DigitalOut nStby;
+        };
+#endif
+
+/**
+ *       #include "mbed.h"
+ *       #include "Motorslam.h"
+ *
+ *       TB6612FNG motor( p22, p5, p6,
+ *                        p21, p7, p8,
+ *                        p18 );
+ *       float fPwmPeriod;
+ *       float fPwmPulsewidth;
+ *
+ *       int main()
+ *       {
+ *           fPwmPeriod = 0.001f;        // 1KHz
+ *           fPwmPulsewidth = 0.50;      // 50% duty cycle
+ *           motor.setPwmLeftperiod(fPwmPeriod);
+ *           motor.setPwmLeftpulsewidth(fPwmPulsewidth);
+ *           motor.setPwmRightperiod(fPwmPeriod);
+ *           motor.setPwmRightpulsewidth(fPwmPulsewidth);
+ *   
+ *           while(1)
+ *           {
+ *               motor.motorLeft_ccw();
+ *               wait(2);
+ *               motor.motorLeft_cw();
+ *               wait(2);
+ *               motor.motorLeft_stop();
+ *               wait(2);
+ *               motor.motorRight_ccw();
+ *               wait(2);
+ *               motor.motorRight_cw();
+ *               wait(2);
+ *               motor.motorRight_stop();
+ *               wait(2);
+ *           }
+ *       }
+*/
+
+//OR//
+
+/**
+#include "mbed.h"
+#include "Motorslam.h"
+
+Motorslam motor( p22, p5, p6,
+                 p21, p7, p8,
+                 p18 );
+float fPwmPeriod;
+float fPwmPulsewidth;
+
+void moveStop(void);
+void moveForward(void);
+void moveBackward(void);
+void moveLeft(void);
+void moveRight(void);
+
+int main()
+    {
+        fPwmPeriod = 0.001f;        // 1KHz
+        fPwmPulsewidth = 0.50;      // 50% duty cycle
+        motor.setPwmLeftperiod(fPwmPeriod);
+        motor.setPwmRightperiod(fPwmPeriod);
+        motor.setPwmLeftpulsewidth(fPwmPulsewidth);
+        motor.setPwmRightpulsewidth(fPwmPulsewidth);
+     
+        while(1)
+        {
+            moveForward();
+            wait(2);
+            moveBackward();
+            wait(2);
+            moveStop();
+                }
+                    }
+                    
+void moveStop(void)
+{
+    motor.standby();
+    }
+    
+void moveForward(void)
+{
+    motor.motorLeft_cw();
+    motor.motorRight_cw();
+    }
+    
+void moveBackward(void)
+{
+    motor.motorLeft_ccw();
+    motor.motorRight_ccw();
+    }
+void moveLeft(void)
+{
+    motor.motorLeft_ccw();
+    motor.motorRight_cw();
+    }
+void moveRight(void)
+{
+    motor.motorLeft_cw();
+    motor.motorRight_ccw();
+    }
+*/
\ No newline at end of file

diff -r 000000000000 -r 550e01736339 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed May 04 18:47:50 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb
\ No newline at end of file