Christopher Eubanks / Motordriver

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Fork of Motordriver by Christopher Hasler

motordriver.cpp@7:cd1cd85b0eb2, 2017-05-09 (annotated)

Committer:
chris1996
Date:
Tue May 09 21:52:54 2017 +0000
Revision:
7:cd1cd85b0eb2
Parent:
6:a759f92efaac 
SpiStuff;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
littlexc 0:edc152f119b7 1 #include "motordriver.h"
littlexc 1:3da7302dc9ae 2
littlexc 0:edc152f119b7 3 #include "mbed.h"
littlexc 1:3da7302dc9ae 4
littlexc 0:edc152f119b7 5 Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable):
littlexc 0:edc152f119b7 6 _pwm(pwm), _fwd(fwd), _rev(rev) {
littlexc 0:edc152f119b7 7
littlexc 0:edc152f119b7 8 // Set initial condition of PWM
littlexc 0:edc152f119b7 9 _pwm.period(0.001);
littlexc 0:edc152f119b7 10 _pwm = 0;
littlexc 0:edc152f119b7 11
littlexc 0:edc152f119b7 12 // Initial condition of output enables
littlexc 0:edc152f119b7 13 _fwd = 0;
littlexc 0:edc152f119b7 14 _rev = 0;
littlexc 1:3da7302dc9ae 15
littlexc 0:edc152f119b7 16 //set if the motor dirver is capable of braking. (addition)
littlexc 0:edc152f119b7 17 Brakeable= brakeable;
littlexc 1:3da7302dc9ae 18 sign = 0;//i.e nothing.
littlexc 0:edc152f119b7 19 }
littlexc 1:3da7302dc9ae 20
littlexc 2:2dc873322032 21 float Motor::speed(float speed) {
littlexc 2:2dc873322032 22 float temp = 0;
littlexc 1:3da7302dc9ae 23 if (sign == 0) {
littlexc 1:3da7302dc9ae 24 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 25 _rev = (speed < 0.0);
littlexc 2:2dc873322032 26 temp = abs(speed);
littlexc 2:2dc873322032 27 _pwm = temp;
littlexc 1:3da7302dc9ae 28 } else if (sign == 1) {
littlexc 1:3da7302dc9ae 29 if (speed < 0) {
littlexc 1:3da7302dc9ae 30 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 31 _rev = (speed < 0.0);
littlexc 1:3da7302dc9ae 32 _pwm = 0;
littlexc 2:2dc873322032 33 temp = 0;
littlexc 4:5fb1296c0d60 34 } else {
littlexc 1:3da7302dc9ae 35 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 36 _rev = (speed < 0.0);
littlexc 2:2dc873322032 37 temp = abs(speed);
littlexc 2:2dc873322032 38 _pwm = temp;
littlexc 1:3da7302dc9ae 39 }
littlexc 1:3da7302dc9ae 40 } else if (sign == -1) {
littlexc 1:3da7302dc9ae 41 if (speed > 0) {
littlexc 1:3da7302dc9ae 42 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 43 _rev = (speed < 0.0);
littlexc 1:3da7302dc9ae 44 _pwm = 0;
littlexc 2:2dc873322032 45 temp = 0;
littlexc 1:3da7302dc9ae 46 } else {
littlexc 1:3da7302dc9ae 47 _fwd = (speed > 0.0);
littlexc 1:3da7302dc9ae 48 _rev = (speed < 0.0);
littlexc 2:2dc873322032 49 temp = abs(speed);
littlexc 2:2dc873322032 50 _pwm = temp;
littlexc 1:3da7302dc9ae 51 }
littlexc 1:3da7302dc9ae 52 }
littlexc 1:3da7302dc9ae 53 if (speed > 0)
littlexc 1:3da7302dc9ae 54 sign = 1;
littlexc 1:3da7302dc9ae 55 else if (speed < 0) {
littlexc 1:3da7302dc9ae 56 sign = -1;
littlexc 1:3da7302dc9ae 57 } else if (speed == 0) {
littlexc 1:3da7302dc9ae 58 sign = 0;
littlexc 1:3da7302dc9ae 59 }
littlexc 2:2dc873322032 60 return temp;
littlexc 0:edc152f119b7 61 }
littlexc 0:edc152f119b7 62 // (additions)
littlexc 0:edc152f119b7 63 void Motor::coast(void) {
littlexc 0:edc152f119b7 64 _fwd = 0;
littlexc 0:edc152f119b7 65 _rev = 0;
littlexc 0:edc152f119b7 66 _pwm = 0;
littlexc 1:3da7302dc9ae 67 sign = 0;
littlexc 0:edc152f119b7 68 }
littlexc 0:edc152f119b7 69
littlexc 2:2dc873322032 70 float Motor::stop(float duty) {
littlexc 0:edc152f119b7 71 if (Brakeable == 1) {
littlexc 0:edc152f119b7 72 _fwd = 1;
littlexc 0:edc152f119b7 73 _rev = 1;
littlexc 2:2dc873322032 74 _pwm = duty;
littlexc 1:3da7302dc9ae 75 sign = 0;
littlexc 2:2dc873322032 76 return duty;
littlexc 1:3da7302dc9ae 77 } else
littlexc 5:3110b9209d3c 78 Motor::coast();
littlexc 3:8822f4955035 79 return -1;
littlexc 0:edc152f119b7 80 }
littlexc 1:3da7302dc9ae 81
littlexc 4:5fb1296c0d60 82 float Motor::state(void) {
littlexc 4:5fb1296c0d60 83 if ((_fwd == _rev) && (_pwm > 0)) {
littlexc 4:5fb1296c0d60 84 return -2;//braking
littlexc 4:5fb1296c0d60 85 } else if (_pwm == 0) {
littlexc 4:5fb1296c0d60 86 return 2;//coasting
littlexc 4:5fb1296c0d60 87 } else if ((_fwd == 0) && (_rev == 1)) {
littlexc 4:5fb1296c0d60 88 return -(_pwm);//reversing
littlexc 4:5fb1296c0d60 89 } else if ((_fwd == 1) && (_rev == 0)) {
littlexc 4:5fb1296c0d60 90 return _pwm;//fowards
littlexc 4:5fb1296c0d60 91 } else
littlexc 4:5fb1296c0d60 92 return -3;//error
chris1996 6:a759f92efaac 93 }