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.
Fork of Motordriver by
motordriver.h
- Committer:
- littlexc
- Date:
- 2010-11-11
- Revision:
- 1:3da7302dc9ae
- Parent:
- 0:edc152f119b7
- Child:
- 2:2dc873322032
File content as of revision 1:3da7302dc9ae:
/*motor driver libary modified from the following libary, * * mbed simple H-bridge motor controller * Copyright (c) 2007-2010, sford * * by Christopher Hasler. * * from sford's libary, * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #ifndef MBED_MOTOR_H #define MBED_MOTOR_H #include "mbed.h" /** Interface to control a standard DC motor * with an H-bridge using a PwmOut and 2 DigitalOuts */ class Motor { public: /** Create a motor control interface * * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed * @param fwd A DigitalOut, set high when the motor should go forward * @param rev A DigitalOut, set high when the motor should go backwards * @param set if the motor driver is able to do braking 0 false 1 true. (addition) */ Motor(PinName pwm, PinName fwd, PinName rev, int brakeable); /** Set the speed of the motor (addition) * * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 */ void speed(float speed); /** Set the the motor to coast * * @param void motor coasts until another instruction is recived */ void coast(void); /** Set the motor to dynamicaly brake (addition) * * @param void motor dynamicaly brakes until another instruction is recived */ void stop(void); protected: PwmOut _pwm; DigitalOut _fwd; DigitalOut _rev; int Brakeable; // (addition) int sign; //prevents throwing the motor from full foward to full reverse and stuff melting. }; #endif