Initial release. Mbed library for VL53L1CB
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BDCMotor.h
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00001 /** 00002 ****************************************************************************** 00003 * @file BDCMotor.h 00004 * @author IPC Rennes 00005 * @version V1.0.0 00006 * @date April 6th, 2016 00007 * @brief This file contains the abstract class describing the interface of a 00008 * Brush DC motor component. 00009 ****************************************************************************** 00010 * @attention 00011 * 00012 * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> 00013 * 00014 * Redistribution and use in source and binary forms, with or without modification, 00015 * are permitted provided that the following conditions are met: 00016 * 1. Redistributions of source code must retain the above copyright notice, 00017 * this list of conditions and the following disclaimer. 00018 * 2. Redistributions in binary form must reproduce the above copyright notice, 00019 * this list of conditions and the following disclaimer in the documentation 00020 * and/or other materials provided with the distribution. 00021 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00022 * may be used to endorse or promote products derived from this software 00023 * without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00026 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00027 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00028 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00029 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00030 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00031 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00033 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00034 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 ****************************************************************************** 00037 */ 00038 00039 00040 /* Define to prevent from recursive inclusion --------------------------------*/ 00041 00042 #ifndef __BDCMOTOR_CLASS_H 00043 #define __BDCMOTOR_CLASS_H 00044 00045 00046 /* Includes ------------------------------------------------------------------*/ 00047 00048 #include <Component.h> 00049 00050 00051 /* Classes ------------------------------------------------------------------*/ 00052 00053 /** 00054 * An abstract class for BDCMotor components. 00055 */ 00056 class BDCMotor : public Component { 00057 public: 00058 00059 /** 00060 * @brief Rotation modes. 00061 */ 00062 typedef enum { 00063 BWD = 0, /* Backward. */ 00064 FWD = 1 /* Forward. */ 00065 } direction_t; 00066 00067 /** 00068 * @brief Disabling the specified bridge. 00069 * @param bridgeId from 0 for bridge A to 1 for bridge B. 00070 * @retval None. 00071 */ 00072 virtual void disable_bridge(unsigned int) = 0; 00073 00074 /** 00075 * @brief Enabling the specified bridge. 00076 * @param bridgeId from 0 for bridge A to 1 for bridge B 00077 * @retval None. 00078 */ 00079 virtual void enable_bridge(unsigned int) = 0; 00080 00081 /** 00082 * @brief Getting the PWM frequency of the specified bridge; 00083 * @param bridgeId from 0 for bridge A to 1 for bridge B. 00084 * @retval The frequency in Hz of the specified bridge input PWM. 00085 */ 00086 virtual unsigned int get_bridge_input_pwm_freq(unsigned int) = 0; 00087 00088 /** 00089 * @brief Getting the bridge status. 00090 * @param bridgeId from 0 for bridge A to 1 for bridge B. 00091 * @retval The status. 00092 */ 00093 virtual unsigned int get_bridge_status(unsigned int) = 0; 00094 00095 /** 00096 * @brief Getting the device State. 00097 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00098 * @retval The device state 00099 */ 00100 virtual unsigned int get_device_state(unsigned int) = 0; 00101 00102 /** 00103 * @brief Getting the current speed in % of the specified motor. 00104 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00105 * @retval The current speed in %. 00106 */ 00107 virtual unsigned int get_speed(unsigned int) = 0; 00108 00109 /** 00110 * @brief Stopping the motor and disabling the power bridge immediately. 00111 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00112 * @retval None. 00113 */ 00114 virtual void hard_hiz(unsigned int) = 0; 00115 00116 /** 00117 * @brief Stopping the motor immediately. 00118 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00119 * @retval None. 00120 */ 00121 virtual void hard_stop(unsigned int) = 0; 00122 00123 /** 00124 * @brief Running the motor. 00125 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00126 * @param direction The direction of rotation. 00127 * @retval None. 00128 */ 00129 virtual void run(unsigned int, direction_t) = 0; 00130 00131 /** 00132 * @brief Setting the PWM frequency of the specified bridge. 00133 * @param bridgeId from 0 for bridge A to 1 for bridge B. 00134 * @param frequency of the PWM in Hz 00135 * @retval None. 00136 */ 00137 virtual void set_bridge_input_pwm_freq(unsigned int, unsigned int) = 0; 00138 00139 /** 00140 * @brief Setting the dual bridge configuration mode. 00141 * @param configuration. The bridge configuration. 00142 * @retval None. 00143 */ 00144 virtual void set_dual_full_bridge_config(unsigned int) = 0; 00145 00146 /** 00147 * @brief Setting the speed in %. 00148 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00149 * @param speed The new speed in %. 00150 * @retval "true" in case of success, "false" otherwise. 00151 */ 00152 virtual bool set_speed(unsigned int, unsigned int) = 0; 00153 00154 /** 00155 * @brief Destructor. 00156 */ 00157 virtual ~BDCMotor() {}; 00158 }; 00159 00160 #endif /* __BDCMOTOR_CLASS_H */ 00161 00162 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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