April Junio / Motordriver

motor drive libary to use speed control, coasting and dynamic braking. NOTE, dynamic braking my result in large currents. this may or may not set the motor driver on fire/break it/other undesired effects. so read the data sheet folks.

Dependents:   Test

Fork of Motordriver by Christopher Hasler

motordriver.h@1:3da7302dc9ae, 2010-11-11 (annotated)

Committer:
littlexc
Date:
Thu Nov 11 15:32:55 2010 +0000
Revision:
1:3da7302dc9ae
Parent:
0:edc152f119b7
Child:
2:2dc873322032
this libary prevents throwing the motor from full foward to full reverse. to change direction, the motor must first come to a full stop, ie, coast, break or set speed to = 0.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
littlexc 0:edc152f119b7 1 /*motor driver libary modified from the following libary,
littlexc 0:edc152f119b7 2 *
littlexc 0:edc152f119b7 3 * mbed simple H-bridge motor controller
littlexc 0:edc152f119b7 4 * Copyright (c) 2007-2010, sford
littlexc 0:edc152f119b7 5 *
littlexc 0:edc152f119b7 6 * by Christopher Hasler.
littlexc 0:edc152f119b7 7 *
littlexc 0:edc152f119b7 8 * from sford's libary,
littlexc 0:edc152f119b7 9 *
littlexc 0:edc152f119b7 10 * Permission is hereby granted, free of charge, to any person obtaining a copy
littlexc 0:edc152f119b7 11 * of this software and associated documentation files (the "Software"), to deal
littlexc 0:edc152f119b7 12 * in the Software without restriction, including without limitation the rights
littlexc 0:edc152f119b7 13 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
littlexc 0:edc152f119b7 14 * copies of the Software, and to permit persons to whom the Software is
littlexc 0:edc152f119b7 15 * furnished to do so, subject to the following conditions:
littlexc 0:edc152f119b7 16 *
littlexc 0:edc152f119b7 17 * The above copyright notice and this permission notice shall be included in
littlexc 0:edc152f119b7 18 * all copies or substantial portions of the Software.
littlexc 0:edc152f119b7 19 *
littlexc 0:edc152f119b7 20 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
littlexc 0:edc152f119b7 21 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
littlexc 0:edc152f119b7 22 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
littlexc 0:edc152f119b7 23 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
littlexc 0:edc152f119b7 24 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
littlexc 0:edc152f119b7 25 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
littlexc 0:edc152f119b7 26 * THE SOFTWARE.
littlexc 0:edc152f119b7 27 */
littlexc 0:edc152f119b7 28
littlexc 0:edc152f119b7 29 #ifndef MBED_MOTOR_H
littlexc 0:edc152f119b7 30 #define MBED_MOTOR_H
littlexc 0:edc152f119b7 31
littlexc 0:edc152f119b7 32 #include "mbed.h"
littlexc 0:edc152f119b7 33
littlexc 0:edc152f119b7 34 /** Interface to control a standard DC motor
littlexc 0:edc152f119b7 35 * with an H-bridge using a PwmOut and 2 DigitalOuts
littlexc 0:edc152f119b7 36 */
littlexc 0:edc152f119b7 37 class Motor {
littlexc 0:edc152f119b7 38 public:
littlexc 0:edc152f119b7 39
littlexc 0:edc152f119b7 40 /** Create a motor control interface
littlexc 0:edc152f119b7 41 *
littlexc 0:edc152f119b7 42 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
littlexc 0:edc152f119b7 43 * @param fwd A DigitalOut, set high when the motor should go forward
littlexc 0:edc152f119b7 44 * @param rev A DigitalOut, set high when the motor should go backwards
littlexc 0:edc152f119b7 45 * @param set if the motor driver is able to do braking 0 false 1 true. (addition)
littlexc 0:edc152f119b7 46 */
littlexc 0:edc152f119b7 47 Motor(PinName pwm, PinName fwd, PinName rev, int brakeable);
littlexc 0:edc152f119b7 48
littlexc 0:edc152f119b7 49 /** Set the speed of the motor (addition)
littlexc 0:edc152f119b7 50 *
littlexc 0:edc152f119b7 51 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
littlexc 0:edc152f119b7 52 */
littlexc 0:edc152f119b7 53 void speed(float speed);
littlexc 0:edc152f119b7 54
littlexc 0:edc152f119b7 55 /** Set the the motor to coast
littlexc 0:edc152f119b7 56 *
littlexc 0:edc152f119b7 57 * @param void motor coasts until another instruction is recived
littlexc 0:edc152f119b7 58 */
littlexc 0:edc152f119b7 59
littlexc 0:edc152f119b7 60 void coast(void);
littlexc 0:edc152f119b7 61
littlexc 0:edc152f119b7 62 /** Set the motor to dynamicaly brake (addition)
littlexc 0:edc152f119b7 63 *
littlexc 0:edc152f119b7 64 * @param void motor dynamicaly brakes until another instruction is recived
littlexc 0:edc152f119b7 65 */
littlexc 0:edc152f119b7 66
littlexc 0:edc152f119b7 67 void stop(void);
littlexc 0:edc152f119b7 68
littlexc 0:edc152f119b7 69 protected:
littlexc 0:edc152f119b7 70 PwmOut _pwm;
littlexc 0:edc152f119b7 71 DigitalOut _fwd;
littlexc 0:edc152f119b7 72 DigitalOut _rev;
littlexc 0:edc152f119b7 73 int Brakeable; // (addition)
littlexc 1:3da7302dc9ae 74 int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
littlexc 0:edc152f119b7 75
littlexc 0:edc152f119b7 76 };
littlexc 0:edc152f119b7 77
littlexc 0:edc152f119b7 78 #endif