Elijah Stanger-Jones / MotorShield

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Dependents:   experiment_example motor_shield_example Position_ctrl Lab3_experiment_example ... more

MotorShield.cpp@4:2b45973bdc67, 2020-08-26 (annotated)

Committer:
elijahsj
Date:
Wed Aug 26 02:49:34 2020 +0000
Revision:
4:2b45973bdc67
Parent:
3:2f46953e7c8b
Child:
5:d2dffc88e94d
documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elijahsj 0:f2ede00aed8a 1 /* Library to interface with 2.74 Motor Shield
elijahsj 3:2f46953e7c8b 2 ** Uses low level HAL libraries to enable high speed PWM
elijahsj 4:2b45973bdc67 3 ** Use as follows:
elijahsj 4:2b45973bdc67 4 ** - Create shield object and specify PWM period for the motors
elijahsj 4:2b45973bdc67 5 ** - Set the duty cycle and direction for each motor
elijahsj 0:f2ede00aed8a 6 */
elijahsj 0:f2ede00aed8a 7
elijahsj 0:f2ede00aed8a 8 #include "mbed.h"
elijahsj 0:f2ede00aed8a 9 #include "MotorShield.h"
elijahsj 1:4c3c2b7337a6 10 #include "HardwareSetup.h"
elijahsj 1:4c3c2b7337a6 11
elijahsj 3:2f46953e7c8b 12 MotorShield::MotorShield(int periodTicks) {
elijahsj 3:2f46953e7c8b 13 periodTickVal = periodTicks;
elijahsj 0:f2ede00aed8a 14 init();
elijahsj 0:f2ede00aed8a 15 }
elijahsj 0:f2ede00aed8a 16
elijahsj 0:f2ede00aed8a 17 void MotorShield::init() {
elijahsj 0:f2ede00aed8a 18 /** Initial config for the STM32H743 **/
elijahsj 1:4c3c2b7337a6 19
elijahsj 3:2f46953e7c8b 20 initHardware(periodTickVal); // Setup PWM
elijahsj 3:2f46953e7c8b 21 wait_us(100);
elijahsj 1:4c3c2b7337a6 22
elijahsj 0:f2ede00aed8a 23 }
elijahsj 0:f2ede00aed8a 24
elijahsj 3:2f46953e7c8b 25 void MotorShield::motorAWrite(double duty_cycle, int direction) {
elijahsj 3:2f46953e7c8b 26 if (direction){
elijahsj 3:2f46953e7c8b 27 TIM12->CCR2 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 28 TIM12->CCR1 = 0;
elijahsj 3:2f46953e7c8b 29 }
elijahsj 3:2f46953e7c8b 30 else {
elijahsj 3:2f46953e7c8b 31 TIM12->CCR2 = 0;
elijahsj 3:2f46953e7c8b 32 TIM12->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 33 }
elijahsj 3:2f46953e7c8b 34
elijahsj 0:f2ede00aed8a 35 }
elijahsj 0:f2ede00aed8a 36
elijahsj 3:2f46953e7c8b 37 void MotorShield::motorBWrite(double duty_cycle, int direction) {
elijahsj 3:2f46953e7c8b 38 if (direction){
elijahsj 3:2f46953e7c8b 39 TIM15->CCR2 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 40 TIM15->CCR1 = 0;
elijahsj 3:2f46953e7c8b 41 }
elijahsj 3:2f46953e7c8b 42 else {
elijahsj 3:2f46953e7c8b 43 TIM15->CCR2 = 0;
elijahsj 3:2f46953e7c8b 44 TIM15->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 45 }
elijahsj 0:f2ede00aed8a 46 }
elijahsj 0:f2ede00aed8a 47
elijahsj 3:2f46953e7c8b 48 void MotorShield::motorCWrite(double duty_cycle, int direction) {
elijahsj 3:2f46953e7c8b 49 if (direction){
elijahsj 3:2f46953e7c8b 50 TIM13->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 51 TIM14->CCR1 = 0;
elijahsj 0:f2ede00aed8a 52 }
elijahsj 3:2f46953e7c8b 53 else {
elijahsj 3:2f46953e7c8b 54 TIM13->CCR1 = 0;
elijahsj 3:2f46953e7c8b 55 TIM14->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 0:f2ede00aed8a 56 }
elijahsj 0:f2ede00aed8a 57 }
elijahsj 3:2f46953e7c8b 58 void MotorShield::motorDWrite(double duty_cycle, int direction) {
elijahsj 3:2f46953e7c8b 59 if (direction){
elijahsj 3:2f46953e7c8b 60 TIM16->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 61 TIM17->CCR1 = 0;
elijahsj 3:2f46953e7c8b 62 }
elijahsj 3:2f46953e7c8b 63 else {
elijahsj 3:2f46953e7c8b 64 TIM16->CCR1 = 0;
elijahsj 3:2f46953e7c8b 65 TIM17->CCR1 = int(periodTickVal * duty_cycle);
elijahsj 3:2f46953e7c8b 66 }
elijahsj 3:2f46953e7c8b 67 }
elijahsj 3:2f46953e7c8b 68
elijahsj 3:2f46953e7c8b 69 void MotorShield::changePeriod(int periodTicks){
elijahsj 3:2f46953e7c8b 70 periodTickVal = periodTicks;
elijahsj 3:2f46953e7c8b 71 init();
elijahsj 3:2f46953e7c8b 72 }
elijahsj 3:2f46953e7c8b 73