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.cpp@6:415f0e127063, 2018-07-13 (annotated)

Committer:
apriljunio
Date:
Fri Jul 13 19:57:27 2018 +0000
Revision:
6:415f0e127063
Parent:
5:3110b9209d3c 
Changed PWM period to be 20kHz;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
littlexc 1:3da7302dc9ae 1 /*motor driver libary modified from the following libary,
littlexc 1:3da7302dc9ae 2 *
littlexc 1:3da7302dc9ae 3 * mbed simple H-bridge motor controller
littlexc 1:3da7302dc9ae 4 * Copyright (c) 2007-2010, sford
littlexc 1:3da7302dc9ae 5 *
littlexc 1:3da7302dc9ae 6 * by Christopher Hasler.
littlexc 1:3da7302dc9ae 7 *
littlexc 1:3da7302dc9ae 8 * from sford's libary,
littlexc 1:3da7302dc9ae 9 *
littlexc 1:3da7302dc9ae 10 * Permission is hereby granted, free of charge, to any person obtaining a copy
littlexc 1:3da7302dc9ae 11 * of this software and associated documentation files (the "Software"), to deal
littlexc 1:3da7302dc9ae 12 * in the Software without restriction, including without limitation the rights
littlexc 1:3da7302dc9ae 13 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
littlexc 1:3da7302dc9ae 14 * copies of the Software, and to permit persons to whom the Software is
littlexc 1:3da7302dc9ae 15 * furnished to do so, subject to the following conditions:
littlexc 1:3da7302dc9ae 16 *
littlexc 1:3da7302dc9ae 17 * The above copyright notice and this permission notice shall be included in
littlexc 1:3da7302dc9ae 18 * all copies or substantial portions of the Software.
littlexc 1:3da7302dc9ae 19 *
littlexc 1:3da7302dc9ae 20 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
littlexc 1:3da7302dc9ae 21 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
littlexc 1:3da7302dc9ae 22 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
littlexc 1:3da7302dc9ae 23 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
littlexc 1:3da7302dc9ae 24 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
littlexc 1:3da7302dc9ae 25 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
littlexc 1:3da7302dc9ae 26 * THE SOFTWARE.
littlexc 1:3da7302dc9ae 27 */
littlexc 0:edc152f119b7 28
littlexc 0:edc152f119b7 29 #include "motordriver.h"
littlexc 1:3da7302dc9ae 30
littlexc 0:edc152f119b7 31 #include "mbed.h"
littlexc 1:3da7302dc9ae 32
littlexc 0:edc152f119b7 33 Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable):
littlexc 0:edc152f119b7 34 _pwm(pwm), _fwd(fwd), _rev(rev) {
littlexc 0:edc152f119b7 35 // Set initial condition of PWM
apriljunio 6:415f0e127063 36 _pwm.period(0.00005); // PWM set to 20 kHz
littlexc 0:edc152f119b7 37 _pwm = 0;
littlexc 0:edc152f119b7 38
littlexc 0:edc152f119b7 39 // Initial condition of output enables
littlexc 0:edc152f119b7 40 _fwd = 0;
littlexc 0:edc152f119b7 41 _rev = 0;
littlexc 1:3da7302dc9ae 42
littlexc 0:edc152f119b7 43 //set if the motor dirver is capable of braking. (addition)
littlexc 0:edc152f119b7 44 Brakeable= brakeable;
littlexc 1:3da7302dc9ae 45 sign = 0;//i.e nothing.
littlexc 0:edc152f119b7 46 }
littlexc 1:3da7302dc9ae 47
littlexc 2:2dc873322032 48 float Motor::speed(float speed) {
littlexc 2:2dc873322032 49 float temp = 0;
littlexc 1:3da7302dc9ae 50 if (sign == 0) {
littlexc 1:3da7302dc9ae 51 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 52 _rev = (speed < 0.0);
littlexc 2:2dc873322032 53 temp = abs(speed);
littlexc 2:2dc873322032 54 _pwm = temp;
littlexc 1:3da7302dc9ae 55 } else if (sign == 1) {
littlexc 1:3da7302dc9ae 56 if (speed < 0) {
littlexc 1:3da7302dc9ae 57 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 58 _rev = (speed < 0.0);
littlexc 1:3da7302dc9ae 59 _pwm = 0;
littlexc 2:2dc873322032 60 temp = 0;
littlexc 4:5fb1296c0d60 61 } else {
littlexc 1:3da7302dc9ae 62 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 63 _rev = (speed < 0.0);
littlexc 2:2dc873322032 64 temp = abs(speed);
littlexc 2:2dc873322032 65 _pwm = temp;
littlexc 1:3da7302dc9ae 66 }
littlexc 1:3da7302dc9ae 67 } else if (sign == -1) {
littlexc 1:3da7302dc9ae 68 if (speed > 0) {
littlexc 1:3da7302dc9ae 69 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 70 _rev = (speed < 0.0);
littlexc 1:3da7302dc9ae 71 _pwm = 0;
littlexc 2:2dc873322032 72 temp = 0;
littlexc 1:3da7302dc9ae 73 } else {
littlexc 1:3da7302dc9ae 74 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 75 _rev = (speed < 0.0);
littlexc 2:2dc873322032 76 temp = abs(speed);
littlexc 2:2dc873322032 77 _pwm = temp;
littlexc 1:3da7302dc9ae 78 }
littlexc 1:3da7302dc9ae 79 }
littlexc 1:3da7302dc9ae 80 if (speed > 0)
littlexc 1:3da7302dc9ae 81 sign = 1;
littlexc 1:3da7302dc9ae 82 else if (speed < 0) {
littlexc 1:3da7302dc9ae 83 sign = -1;
littlexc 1:3da7302dc9ae 84 } else if (speed == 0) {
littlexc 1:3da7302dc9ae 85 sign = 0;
littlexc 1:3da7302dc9ae 86 }
littlexc 2:2dc873322032 87 return temp;
littlexc 0:edc152f119b7 88 }
littlexc 0:edc152f119b7 89 // (additions)
littlexc 0:edc152f119b7 90 void Motor::coast(void) {
littlexc 0:edc152f119b7 91 _fwd = 0;
littlexc 0:edc152f119b7 92 _rev = 0;
littlexc 0:edc152f119b7 93 _pwm = 0;
littlexc 1:3da7302dc9ae 94 sign = 0;
littlexc 0:edc152f119b7 95 }
littlexc 0:edc152f119b7 96
littlexc 2:2dc873322032 97 float Motor::stop(float duty) {
littlexc 0:edc152f119b7 98 if (Brakeable == 1) {
littlexc 0:edc152f119b7 99 _fwd = 1;
littlexc 0:edc152f119b7 100 _rev = 1;
littlexc 2:2dc873322032 101 _pwm = duty;
littlexc 1:3da7302dc9ae 102 sign = 0;
littlexc 2:2dc873322032 103 return duty;
littlexc 1:3da7302dc9ae 104 } else
littlexc 5:3110b9209d3c 105 Motor::coast();
littlexc 3:8822f4955035 106 return -1;
littlexc 0:edc152f119b7 107 }
littlexc 1:3da7302dc9ae 108
littlexc 4:5fb1296c0d60 109 float Motor::state(void) {
littlexc 4:5fb1296c0d60 110 if ((_fwd == _rev) && (_pwm > 0)) {
littlexc 4:5fb1296c0d60 111 return -2;//braking
littlexc 4:5fb1296c0d60 112 } else if (_pwm == 0) {
littlexc 4:5fb1296c0d60 113 return 2;//coasting
littlexc 4:5fb1296c0d60 114 } else if ((_fwd == 0) && (_rev == 1)) {
littlexc 4:5fb1296c0d60 115 return -(_pwm);//reversing
littlexc 4:5fb1296c0d60 116 } else if ((_fwd == 1) && (_rev == 0)) {
apriljunio 6:415f0e127063 117 return _pwm;//foRwards
littlexc 4:5fb1296c0d60 118 } else
littlexc 4:5fb1296c0d60 119 return -3;//error
littlexc 4:5fb1296c0d60 120 }
littlexc 4:5fb1296c0d60 121
littlexc 0:edc152f119b7 122 /*
littlexc 0:edc152f119b7 123 test code, this demonstrates working motor drivers.
littlexc 1:3da7302dc9ae 124
littlexc 1:3da7302dc9ae 125 Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break
littlexc 0:edc152f119b7 126 Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break
littlexc 0:edc152f119b7 127 int main() {
littlexc 0:edc152f119b7 128 for (float s=-1.0; s < 1.0 ; s += 0.01) {
littlexc 1:3da7302dc9ae 129 A.speed(s);
littlexc 1:3da7302dc9ae 130 B.speed(s);
littlexc 0:edc152f119b7 131 wait(0.02);
littlexc 0:edc152f119b7 132 }
littlexc 0:edc152f119b7 133 A.stop();
littlexc 0:edc152f119b7 134 B.stop();
littlexc 0:edc152f119b7 135 wait(1);
littlexc 0:edc152f119b7 136 A.coast();
littlexc 0:edc152f119b7 137 B.coast();
littlexc 0:edc152f119b7 138 }
littlexc 0:edc152f119b7 139 */