Diff: MotorDriver.h

Revision:

0:871adb9cf798

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorDriver.h	Tue Dec 08 00:11:04 2015 +0000
@@ -0,0 +1,103 @@
+/*
+Bryce Williams
+09/14/2014
+
+General/Basic Motor Driver Class providing Motor Control using a COTS Motor Driver
+
+    Class based off of Christopher Hasler's Motordriver library found at
+    https://developer.mbed.org/cookbook/Motor 
+    
+    
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+
+#ifndef MOTORDRIVER_H
+#define MOTORDRIVER_H
+
+#include "mbed.h"
+
+typedef enum {ERROR=0, DRIVING_CW=1, DRIVING_CCW=2, BRAKING=3, COASTING=4}Code_t;
+typedef struct{
+    Code_t code;     
+    float  value;
+}State_t;
+
+class MotorDriver{
+    public:
+        /*
+            Constructor of MotorDriver Objects
+            @param in_1         Direction Input 1
+            @param in_2         Direction Input 2
+            @param pwm          PWM speed control input
+            @param pwmFreq      PWM frequency, some motors may whine at lower freqs
+            @param isBrakable   Boolean value indicating whether or not the 
+                                motor driver is brakeable(see your datasheet)
+        */
+        MotorDriver(DigitalOut in1, DigitalOut in2, PwmOut pwm, float pwmFreq, bool isBrakeable = false);
+        
+        /*
+            Sets speed of motor normalized between -1.0 to 1.0 
+            @param speed    Value -1.0 to 1.0 (>0 CW at speed as percentage)
+                                              (<0 CCW at speed as percentage)
+                                              (=0 speed is zero)
+            @return state of the motor
+            NOTE: This method will NOT allow user to instantaneously swithch 
+            from CW to CCW or vise versa. Doing so will cause the motor to 
+            be put in to a BRAKE condition, while the motor_state.code will 
+            be updated to ERROR. User should avoid trying to do this, call 
+            first setSpeed(0) or brake().  
+        */
+        State_t setSpeed(float speed);
+        
+        /*
+            Same as setSpeed(float speed), however does not impose the safety disallowing
+            instantaneous reversal of motor direction. It is up to the user to ensure they
+            do not blow up their motor. 
+        */
+        State_t forceSetSpeed(float speed);
+        
+        /*
+            Put motor into braked config
+            @param intensity How hard to brake (0.0 to 1.0)
+            @return state of the motors
+        */
+        State_t brake(float intensity);
+        
+        /*
+            Put motor into stop/coast config
+        */
+        State_t coast();
+        
+        
+        /*
+            Get state of the motor
+            @return state of the motor
+        */
+        State_t getState();
+        
+    protected:                        // Protected so objects that inherit can access
+        State_t    motor_state;
+        DigitalOut _in1;
+        DigitalOut _in2;
+        PwmOut     _pwm;
+        bool       isBrakeable;
+        void determineState();        // Determine motor state based on in1, in2, and pwm
+};
+
+#endif
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