zejun du / L298HBridge

Class library for a L298 H-Bridge

Dependents:   inverted_pendulum_system

Fork of L298HBridge by Riaan Ehlers

L298HBridge.cpp@3:dabd8b6b2bff, 2017-08-25 (annotated)

Committer:
dudu941014
Date:
Fri Aug 25 21:00:45 2017 +0000
Revision:
3:dabd8b6b2bff
Parent:
2:1c000b6cf863 
this code is for the inverted pendulum balancer. it is based the two loop PID controllers. One PID controller is for angle, and another one is for velocity

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dudu941014 3:dabd8b6b2bff 1 //////////////////////////////////////////////////////////////////////////////////
dudu941014 3:dabd8b6b2bff 2 // Company: edinburgh of university
dudu941014 3:dabd8b6b2bff 3 // Engineer: ZEjun DU
dudu941014 3:dabd8b6b2bff 4 //
dudu941014 3:dabd8b6b2bff 5 // Create Date: 2017/08/20 13:06:52
dudu941014 3:dabd8b6b2bff 6 // Design Name: Inverted Pendulum Balancer
dudu941014 3:dabd8b6b2bff 7 // Module Name: motor driver
dudu941014 3:dabd8b6b2bff 8 // Tool Versions: “Keil 5” or “Mbed Complie Online”
dudu941014 3:dabd8b6b2bff 9 // Description: this part is basic function of movement to control the motor according to PWM!!!!!!!
dudu941014 3:dabd8b6b2bff 10 //
dudu941014 3:dabd8b6b2bff 11 //
dudu941014 3:dabd8b6b2bff 12 //////////////////////////////////////////////////////////////////////////////////
dudu941014 3:dabd8b6b2bff 13
RiaanEhlers 0:39561fe6e4ff 14 #include "L298HBridge.h"
RiaanEhlers 0:39561fe6e4ff 15 #include "mbed.h"
RiaanEhlers 0:39561fe6e4ff 16
dudu941014 3:dabd8b6b2bff 17 ////////////////////////////////////////////////////////////
dudu941014 3:dabd8b6b2bff 18 //this part is a independent function which control the movement based on L298n
dudu941014 3:dabd8b6b2bff 19 ////////////////////////////////////////////////////////////
RiaanEhlers 0:39561fe6e4ff 20 L298HBridge::L298HBridge(PinName ENPin, PinName FWDPin, PinName REVPin) : _ENPin(ENPin), _FWDPin(FWDPin), _REVPin(REVPin) {
dudu941014 3:dabd8b6b2bff 21 _ENPin = 0; //PWM = 0%
dudu941014 3:dabd8b6b2bff 22 _FWDPin = 0; //PWM = 0%
dudu941014 3:dabd8b6b2bff 23 _REVPin = 0; //PWM = 0%
dudu941014 3:dabd8b6b2bff 24 _ENPin.period(0.0002); //set PWM period to 2mS as default.
RiaanEhlers 0:39561fe6e4ff 25 }
dudu941014 3:dabd8b6b2bff 26
dudu941014 3:dabd8b6b2bff 27 ////////////////////////////////////////////////////////////
dudu941014 3:dabd8b6b2bff 28 //this part is to move forward
dudu941014 3:dabd8b6b2bff 29 ////////////////////////////////////////////////////////////
RiaanEhlers 1:6d242bb216d6 30 void L298HBridge::Fwd() {
dudu941014 3:dabd8b6b2bff 31 _FWDPin = 1;//enable foward pin
dudu941014 3:dabd8b6b2bff 32 _REVPin = 0;//disable reverse pin
RiaanEhlers 0:39561fe6e4ff 33 }
RiaanEhlers 0:39561fe6e4ff 34
dudu941014 3:dabd8b6b2bff 35 ////////////////////////////////////////////////////////////
dudu941014 3:dabd8b6b2bff 36 //this part is to move reserve
dudu941014 3:dabd8b6b2bff 37 ////////////////////////////////////////////////////////////
RiaanEhlers 0:39561fe6e4ff 38 void L298HBridge::Rev() {
dudu941014 3:dabd8b6b2bff 39 _FWDPin = 0;//disable foward pin
dudu941014 3:dabd8b6b2bff 40 _REVPin = 1;//enable reverse pin
RiaanEhlers 0:39561fe6e4ff 41 }
RiaanEhlers 0:39561fe6e4ff 42
dudu941014 3:dabd8b6b2bff 43 ////////////////////////////////////////////////////////////
dudu941014 3:dabd8b6b2bff 44 //this part is to stop the movement of the balancer
dudu941014 3:dabd8b6b2bff 45 ////////////////////////////////////////////////////////////
RiaanEhlers 0:39561fe6e4ff 46 void L298HBridge::Stop() {
dudu941014 3:dabd8b6b2bff 47 _FWDPin = 0;//disable foward pin
dudu941014 3:dabd8b6b2bff 48 _REVPin = 0;//disable reverse pin
RiaanEhlers 0:39561fe6e4ff 49 }
dudu941014 3:dabd8b6b2bff 50
dudu941014 3:dabd8b6b2bff 51 ////////////////////////////////////////////////////////////
dudu941014 3:dabd8b6b2bff 52 //this part is to control the force of the motor according to PWM
dudu941014 3:dabd8b6b2bff 53 ////////////////////////////////////////////////////////////
RiaanEhlers 2:1c000b6cf863 54 void L298HBridge::Speed(float DutyPercent) {
dudu941014 3:dabd8b6b2bff 55 _ENPin = DutyPercent /1000;//set PWM pin
RiaanEhlers 0:39561fe6e4ff 56 }