Didier Donsez / ArduMotoShield

Simple library and program for the SparkFun Ardumoto Shield https://www.sparkfun.com/products/9815 with the ST Nucleo F401RE The SparkFun Ardumoto shield can control two DC motors (up to 2 amps per motor). It is based on the L298 H-bridge. Developped by : Didier Donsez & Jérome Maisonnasse License: CC-SA 3.0, feel free to use this code however you'd like. Please improve upon it! Let me know how you've made it better. This is really simple example code to get you some basic functionality with the Ardumoto Shield.

ArduMotoShield.cpp@0:72e45c332025, 2014-11-08 (annotated)

Committer:
donsez
Date:
Sat Nov 08 15:44:22 2014 +0000
Revision:
0:72e45c332025
Create simple library and program for the SparkFun Ardumoto Shield https://www.sparkfun.com/products/9815;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
donsez 0:72e45c332025 1 /*
donsez 0:72e45c332025 2 Simple library for the SparkFun Ardumoto Shield https://www.sparkfun.com/products/9815
donsez 0:72e45c332025 3 with the ST Nucleo F401RE
donsez 0:72e45c332025 4
donsez 0:72e45c332025 5 The SparkFun Ardumoto shield can control two DC motors (up to 2 amps per motor). It is based on the L298 H-bridge.
donsez 0:72e45c332025 6
donsez 0:72e45c332025 7 Developped by : Didier Donsez & Jérome Maisonnasse
donsez 0:72e45c332025 8
donsez 0:72e45c332025 9 License: CC-SA 3.0, feel free to use this code however you'd like.
donsez 0:72e45c332025 10 Please improve upon it! Let me know how you've made it better.
donsez 0:72e45c332025 11
donsez 0:72e45c332025 12 This is really simple example code to get you some basic functionality with the Ardumoto Shield.
donsez 0:72e45c332025 13
donsez 0:72e45c332025 14 */
donsez 0:72e45c332025 15
donsez 0:72e45c332025 16 #include "ArduMotoShield.h"
donsez 0:72e45c332025 17 #include "mbed.h"
donsez 0:72e45c332025 18
donsez 0:72e45c332025 19 // depend of the Vin and the max voltage of the motors
donsez 0:72e45c332025 20 float MAXPWM = 0.5f;
donsez 0:72e45c332025 21
donsez 0:72e45c332025 22 #define LOW 0
donsez 0:72e45c332025 23 #define HIGH 1
donsez 0:72e45c332025 24
donsez 0:72e45c332025 25 DigitalOut inApin(D12, LOW); //direction control for motor outputs 1 and 2 is on digital pin 12
donsez 0:72e45c332025 26 DigitalOut inBpin(D13, LOW); //direction control for motor outputs 3 and 4 is on digital pin 13
donsez 0:72e45c332025 27 PwmOut pwmApin(D3); //PWM control for motor outputs 1 and 2 is on digital pin 3
donsez 0:72e45c332025 28 PwmOut pwmBpin(D11); //PWM control for motor outputs 3 and 4 is on digital pin 11
donsez 0:72e45c332025 29
donsez 0:72e45c332025 30 bool isSetup=false;
donsez 0:72e45c332025 31
donsez 0:72e45c332025 32 void ArduMotoShield::setVoltages(float vin, float vmaxmotor)
donsez 0:72e45c332025 33 {
donsez 0:72e45c332025 34
donsez 0:72e45c332025 35 if(vin<vmaxmotor)
donsez 0:72e45c332025 36 MAXPWM=1.0f;
donsez 0:72e45c332025 37 else
donsez 0:72e45c332025 38 MAXPWM=vmaxmotor/vin;
donsez 0:72e45c332025 39 }
donsez 0:72e45c332025 40
donsez 0:72e45c332025 41
donsez 0:72e45c332025 42 void ArduMotoShield::setup()
donsez 0:72e45c332025 43 {
donsez 0:72e45c332025 44 pwmApin.period_ms(10);
donsez 0:72e45c332025 45 pwmApin.pulsewidth_ms(1);
donsez 0:72e45c332025 46 pwmApin.write(0.0f);
donsez 0:72e45c332025 47
donsez 0:72e45c332025 48 pwmBpin.period_ms(10);
donsez 0:72e45c332025 49 pwmBpin.pulsewidth_ms(1);
donsez 0:72e45c332025 50 pwmBpin.write(0.0f);
donsez 0:72e45c332025 51
donsez 0:72e45c332025 52 isSetup=true;
donsez 0:72e45c332025 53 }
donsez 0:72e45c332025 54
donsez 0:72e45c332025 55 // Basic ArduMotoShield operations
donsez 0:72e45c332025 56
donsez 0:72e45c332025 57 void ArduMotoShield::forward() //full speed forward
donsez 0:72e45c332025 58 {
donsez 0:72e45c332025 59 if(!isSetup) setup();
donsez 0:72e45c332025 60
donsez 0:72e45c332025 61 inApin.write(LOW);
donsez 0:72e45c332025 62 inBpin.write(LOW);
donsez 0:72e45c332025 63 pwmApin.write(MAXPWM);
donsez 0:72e45c332025 64 pwmBpin.write(MAXPWM);
donsez 0:72e45c332025 65 printf("Forward\n");
donsez 0:72e45c332025 66 }
donsez 0:72e45c332025 67
donsez 0:72e45c332025 68 void ArduMotoShield::backward() //full speed backward
donsez 0:72e45c332025 69 {
donsez 0:72e45c332025 70 if(!isSetup) setup();
donsez 0:72e45c332025 71
donsez 0:72e45c332025 72 inApin.write(HIGH);
donsez 0:72e45c332025 73 inBpin.write(HIGH);
donsez 0:72e45c332025 74 pwmApin.write(MAXPWM);
donsez 0:72e45c332025 75 pwmBpin.write(MAXPWM);
donsez 0:72e45c332025 76 printf("Backward\n");
donsez 0:72e45c332025 77 }
donsez 0:72e45c332025 78
donsez 0:72e45c332025 79 void ArduMotoShield::stop()
donsez 0:72e45c332025 80 {
donsez 0:72e45c332025 81 if(!isSetup) setup();
donsez 0:72e45c332025 82
donsez 0:72e45c332025 83 inApin.write(LOW);
donsez 0:72e45c332025 84 inBpin.write(LOW);
donsez 0:72e45c332025 85 pwmApin.write(0.0f);
donsez 0:72e45c332025 86 pwmBpin.write(0.0f);
donsez 0:72e45c332025 87 printf("Stop\n");
donsez 0:72e45c332025 88 }
donsez 0:72e45c332025 89
donsez 0:72e45c332025 90 void ArduMotoShield::right()
donsez 0:72e45c332025 91 {
donsez 0:72e45c332025 92 if(!isSetup) setup();
donsez 0:72e45c332025 93
donsez 0:72e45c332025 94 inApin.write(HIGH);
donsez 0:72e45c332025 95 inBpin.write(LOW);
donsez 0:72e45c332025 96 pwmApin.write(MAXPWM);
donsez 0:72e45c332025 97 pwmBpin.write(MAXPWM);
donsez 0:72e45c332025 98 printf("Right\n");
donsez 0:72e45c332025 99 }
donsez 0:72e45c332025 100
donsez 0:72e45c332025 101 void ArduMotoShield::left()
donsez 0:72e45c332025 102 {
donsez 0:72e45c332025 103 if(!isSetup) setup();
donsez 0:72e45c332025 104
donsez 0:72e45c332025 105 inApin.write(LOW);
donsez 0:72e45c332025 106 inBpin.write(HIGH);
donsez 0:72e45c332025 107 pwmApin.write(MAXPWM);
donsez 0:72e45c332025 108 pwmBpin.write(MAXPWM);
donsez 0:72e45c332025 109 printf("Left\n");
donsez 0:72e45c332025 110 }