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.

Files at this revision

API Documentation at this revision

Comitter:
donsez
Date:
Sat Nov 08 15:44:22 2014 +0000
Commit message:
Create simple library and program for the SparkFun Ardumoto Shield https://www.sparkfun.com/products/9815;

Changed in this revision

ArduMotoShield.cpp Show annotated file Show diff for this revision Revisions of this file
ArduMotoShield.h Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 72e45c332025 ArduMotoShield.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ArduMotoShield.cpp	Sat Nov 08 15:44:22 2014 +0000
@@ -0,0 +1,110 @@
+/* 
+Simple library 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.
+ 
+ */
+
+#include "ArduMotoShield.h"
+#include "mbed.h"
+
+// depend of the Vin and the max voltage of the motors
+float MAXPWM = 0.5f;
+                
+#define LOW 0
+#define HIGH 1
+
+DigitalOut inApin(D12, LOW); //direction control for motor outputs 1 and 2 is on digital pin 12
+DigitalOut inBpin(D13, LOW); //direction control for motor outputs 3 and 4 is on digital pin 13
+PwmOut pwmApin(D3); //PWM control for motor outputs 1 and 2 is on digital pin 3
+PwmOut pwmBpin(D11); //PWM control for motor outputs 3 and 4 is on digital pin 11
+
+bool isSetup=false;
+
+void ArduMotoShield::setVoltages(float vin, float vmaxmotor)
+{  
+
+    if(vin<vmaxmotor)
+        MAXPWM=1.0f;
+    else
+        MAXPWM=vmaxmotor/vin;
+}
+
+
+void ArduMotoShield::setup()
+{  
+    pwmApin.period_ms(10);
+    pwmApin.pulsewidth_ms(1);
+    pwmApin.write(0.0f);
+
+    pwmBpin.period_ms(10);
+    pwmBpin.pulsewidth_ms(1);  
+    pwmBpin.write(0.0f);
+    
+    isSetup=true;        
+}
+
+// Basic ArduMotoShield operations
+
+void ArduMotoShield::forward() //full speed forward
+{ 
+        if(!isSetup) setup();
+
+        inApin.write(LOW);
+        inBpin.write(LOW);
+        pwmApin.write(MAXPWM);
+        pwmBpin.write(MAXPWM);
+        printf("Forward\n");
+}
+
+void ArduMotoShield::backward() //full speed backward
+{
+        if(!isSetup) setup();
+
+        inApin.write(HIGH);
+        inBpin.write(HIGH);
+        pwmApin.write(MAXPWM);
+        pwmBpin.write(MAXPWM);
+        printf("Backward\n");
+}
+
+void ArduMotoShield::stop()
+{
+        if(!isSetup) setup();
+
+        inApin.write(LOW);
+        inBpin.write(LOW);
+        pwmApin.write(0.0f);
+        pwmBpin.write(0.0f);
+        printf("Stop\n");
+}
+
+void ArduMotoShield::right()
+{
+        if(!isSetup) setup();
+
+        inApin.write(HIGH);
+        inBpin.write(LOW);
+        pwmApin.write(MAXPWM);
+        pwmBpin.write(MAXPWM);
+        printf("Right\n");
+}
+
+void ArduMotoShield::left()
+{
+        if(!isSetup) setup();
+
+        inApin.write(LOW);
+        inBpin.write(HIGH);
+        pwmApin.write(MAXPWM);
+        pwmBpin.write(MAXPWM);
+        printf("Left\n");
+}
diff -r 000000000000 -r 72e45c332025 ArduMotoShield.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ArduMotoShield.h	Sat Nov 08 15:44:22 2014 +0000
@@ -0,0 +1,35 @@
+/* 
+ Simple library 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.
+ 
+ */
+
+
+#ifndef MBED_ARDUMOTOSHIELD_H
+#define MBED_ARDUMOTOSHIELD_H
+
+#include "mbed.h"
+
+class ArduMotoShield {
+public:
+    static void setVoltages(float vin, float vmaxmotor);
+
+    static void stop();
+    static void forward();
+    static void backward();
+    static void left();
+    static void right();
+private:
+    static void setup();
+};
+
+#endif