ESCON_motor.cpp

00001 /*
00002 * @author Jinhyuk Yoon
00003 *
00004 * Designed to control ESCON via NUCELO-F767ZI
00005 */
00006 
00007 #include "ESCON_motor.h"
00008 
00009 ESCON_motor::ESCON_motor(PinName enable_out_pin,
00010                          PinName dir_out_pin,
00011                          PinName pwm_out_pin,
00012                          double duty_cycle_,
00013                          double motor_time_const) : enable_(enable_out_pin),
00014                          dir_(dir_out_pin),
00015                          pwm_(pwm_out_pin){
00016                              
00017     duty_cycle = duty_cycle_;
00018     period = 1 / (5 * 1000 / (2 * PI * motor_time_const) ) ;
00019    /*
00020     * Calcuate maximum period based on cutoff frequency for motor actuation.
00021     * Motor time constant's unit is millesecond(ms).
00022     * Source: https://electronics.stackexchange.com/questions/242293/is-there-an-ideal-pwm-frequency-for-dc-brush-motors
00023     */
00024 }
00025 
00026 void ESCON_motor::enable(void) { enable_ = 1;}
00027 
00028 void ESCON_motor::disable(void) { enable_ = 0; }
00029 
00030 void ESCON_motor::CW(void) { dir_ = 0; }
00031 
00032 void ESCON_motor::CCW(void) { dir_ = 1; }
00033 
00034 void ESCON_motor::pwm(void) {
00035     pwm_.period(period);
00036     pwm_.pulsewidth(duty_cycle * period);
00037 }
00038 
00039 void ESCON_motor::pwmDutyCycleChange(double duty_cycle_) {
00040     duty_cycle = duty_cycle_;
00041     pwm_.period(period);
00042     pwm_.pulsewidth(duty_cycle * period);
00043 }