motordriver.h

00001 #ifndef MBED_MOTOR_H
00002 #define MBED_MOTOR_H
00003  
00004 #include "mbed.h"
00005  
00006 /** Interface to control a standard DC motor 
00007 * with an H-bridge using a PwmOut and 2 DigitalOuts
00008 */
00009 class Motor {
00010     public:
00011  
00012 /** Create a motor control interface    
00013 *
00014 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
00015 * @param fwd A DigitalOut, set high when the motor should go forward
00016 * @param rev A DigitalOut, set high when the motor should go backwards
00017 * @param set if the motor driver is able to do braking 0 false 1 true.
00018 */
00019         Motor(PinName pwm, PinName fwd, PinName rev, int brakeable);
00020   
00021 /** Set the speed of the motor 
00022 * 
00023 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0.
00024 * @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping.
00025 */
00026         float speed(float speed);
00027         
00028 /** Set the the motor to coast
00029 * 
00030 * @param void 
00031 * @return motor coasts until another instruction is recived.
00032 */        
00033   
00034         void coast(void);
00035 
00036 /** Set the motor to dynamicaly brake
00037 * 
00038 * @param float 0 - 1.0 provides some control over how hard the motor brakes. 
00039 * @return duty applied to motor driver. -1 is error, motor driver can't brake.
00040 */
00041 
00042         float stop(float duty);
00043 /** return the current state of the motor
00044 *
00045 * @param void
00046 * @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. 
00047 */
00048         float state(void);
00049         
00050     protected:
00051         PwmOut _pwm;
00052         DigitalOut _fwd;
00053         DigitalOut _rev;
00054         int Brakeable; // cna the motor driver break
00055         int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
00056  
00057 };
00058 
00059 
00060 
00061 
00062 
00063 #endif