ArduMotoShield.cpp

00001 /* 
00002 Simple library for the SparkFun Ardumoto Shield https://www.sparkfun.com/products/9815
00003 with the ST Nucleo F401RE
00004  
00005 The SparkFun Ardumoto shield can control two DC motors (up to 2 amps per motor). It is based on the L298 H-bridge. 
00006 
00007 Developped by : Didier Donsez & Jérome Maisonnasse
00008  
00009  License: CC-SA 3.0, feel free to use this code however you'd like.
00010  Please improve upon it! Let me know how you've made it better.
00011  
00012  This is really simple example code to get you some basic functionality with the Ardumoto Shield.
00013  
00014  */
00015 
00016 #include "ArduMotoShield.h"
00017 #include "mbed.h"
00018 
00019 // depend of the Vin and the max voltage of the motors
00020 float MAXPWM = 0.5f;
00021                 
00022 #define LOW 0
00023 #define HIGH 1
00024 
00025 DigitalOut inApin(D12, LOW); //direction control for motor outputs 1 and 2 is on digital pin 12
00026 DigitalOut inBpin(D13, LOW); //direction control for motor outputs 3 and 4 is on digital pin 13
00027 PwmOut pwmApin(D3); //PWM control for motor outputs 1 and 2 is on digital pin 3
00028 PwmOut pwmBpin(D11); //PWM control for motor outputs 3 and 4 is on digital pin 11
00029 
00030 bool isSetup=false;
00031 
00032 void ArduMotoShield::setVoltages(float vin, float vmaxmotor)
00033 {  
00034 
00035     if(vin<vmaxmotor)
00036         MAXPWM=1.0f;
00037     else
00038         MAXPWM=vmaxmotor/vin;
00039 }
00040 
00041 
00042 void ArduMotoShield::setup()
00043 {  
00044     pwmApin.period_ms(10);
00045     pwmApin.pulsewidth_ms(1);
00046     pwmApin.write(0.0f);
00047 
00048     pwmBpin.period_ms(10);
00049     pwmBpin.pulsewidth_ms(1);  
00050     pwmBpin.write(0.0f);
00051     
00052     isSetup=true;        
00053 }
00054 
00055 // Basic ArduMotoShield operations
00056 
00057 void ArduMotoShield::forward() //full speed forward
00058 { 
00059         if(!isSetup) setup();
00060 
00061         inApin.write(LOW);
00062         inBpin.write(LOW);
00063         pwmApin.write(MAXPWM);
00064         pwmBpin.write(MAXPWM);
00065         printf("Forward\n");
00066 }
00067 
00068 void ArduMotoShield::backward() //full speed backward
00069 {
00070         if(!isSetup) setup();
00071 
00072         inApin.write(HIGH);
00073         inBpin.write(HIGH);
00074         pwmApin.write(MAXPWM);
00075         pwmBpin.write(MAXPWM);
00076         printf("Backward\n");
00077 }
00078 
00079 void ArduMotoShield::stop()
00080 {
00081         if(!isSetup) setup();
00082 
00083         inApin.write(LOW);
00084         inBpin.write(LOW);
00085         pwmApin.write(0.0f);
00086         pwmBpin.write(0.0f);
00087         printf("Stop\n");
00088 }
00089 
00090 void ArduMotoShield::right()
00091 {
00092         if(!isSetup) setup();
00093 
00094         inApin.write(HIGH);
00095         inBpin.write(LOW);
00096         pwmApin.write(MAXPWM);
00097         pwmBpin.write(MAXPWM);
00098         printf("Right\n");
00099 }
00100 
00101 void ArduMotoShield::left()
00102 {
00103         if(!isSetup) setup();
00104 
00105         inApin.write(LOW);
00106         inBpin.write(HIGH);
00107         pwmApin.write(MAXPWM);
00108         pwmBpin.write(MAXPWM);
00109         printf("Left\n");
00110 }