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@4:5fb1296c0d60, 2010-11-25 (annotated)

Committer:
littlexc
Date:
Thu Nov 25 13:31:22 2010 +0000
Revision:
4:5fb1296c0d60
Parent:
2:2dc873322032
Child:
6:415f0e127063
added a state function that returns the state of the motordriver(what is been written to it)

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 2:2dc873322032 45 * @param set if the motor driver is able to do braking 0 false 1 true.
littlexc 0:edc152f119b7 46 */
littlexc 0:edc152f119b7 47 Motor(PinName pwm, PinName fwd, PinName rev, int brakeable);
littlexc 0:edc152f119b7 48
littlexc 2:2dc873322032 49 /** Set the speed of the motor
littlexc 0:edc152f119b7 50 *
littlexc 2:2dc873322032 51 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0.
littlexc 2:2dc873322032 52 * @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping.
littlexc 0:edc152f119b7 53 */
littlexc 2:2dc873322032 54 float speed(float speed);
littlexc 0:edc152f119b7 55
littlexc 0:edc152f119b7 56 /** Set the the motor to coast
littlexc 0:edc152f119b7 57 *
littlexc 2:2dc873322032 58 * @param void
littlexc 2:2dc873322032 59 * @return motor coasts until another instruction is recived.
littlexc 0:edc152f119b7 60 */
littlexc 0:edc152f119b7 61
littlexc 0:edc152f119b7 62 void coast(void);
littlexc 0:edc152f119b7 63
littlexc 2:2dc873322032 64 /** Set the motor to dynamicaly brake
littlexc 0:edc152f119b7 65 *
littlexc 2:2dc873322032 66 * @param float 0 - 1.0 provides some control over how hard the motor brakes.
littlexc 2:2dc873322032 67 * @return duty applied to motor driver. -1 is error, motor driver can't brake.
littlexc 0:edc152f119b7 68 */
littlexc 0:edc152f119b7 69
littlexc 2:2dc873322032 70 float stop(float duty);
littlexc 4:5fb1296c0d60 71 /** return the current state of the motor
littlexc 4:5fb1296c0d60 72 *
littlexc 4:5fb1296c0d60 73 * @param void
littlexc 4:5fb1296c0d60 74 * @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error.
littlexc 4:5fb1296c0d60 75 */
littlexc 4:5fb1296c0d60 76 float state(void);
littlexc 0:edc152f119b7 77
littlexc 0:edc152f119b7 78 protected:
littlexc 0:edc152f119b7 79 PwmOut _pwm;
littlexc 0:edc152f119b7 80 DigitalOut _fwd;
littlexc 0:edc152f119b7 81 DigitalOut _rev;
littlexc 2:2dc873322032 82 int Brakeable; // cna the motor driver break
littlexc 1:3da7302dc9ae 83 int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
littlexc 0:edc152f119b7 84
littlexc 0:edc152f119b7 85 };
littlexc 0:edc152f119b7 86
littlexc 4:5fb1296c0d60 87
littlexc 4:5fb1296c0d60 88
littlexc 4:5fb1296c0d60 89
littlexc 4:5fb1296c0d60 90
littlexc 0:edc152f119b7 91 #endif