File content as of revision 1:b6bd7c434ab5:

/** 

Copyright 2014 John Bailey
   
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

*/

#include "ArduinoMotorShield.hpp"

#if defined TARGET_KL46Z

/* This assumes the presence of the cross-wiring on PWM B 
   (see "Issues" at http://mbed.org/users/johnb/notebook/mutt-mbed-enabled-robot-vehicle/ )
*/
#define MOTOR_A_PWM_PIN     PTA12
#define MOTOR_B_PWM_PIN     PTA5

#define MOTOR_A_BRAKE_PIN   PTD2
#define MOTOR_B_BRAKE_PIN   PTA13

#define MOTOR_A_CURRENT_PIN PTB0
#define MOTOR_B_CURRENT_PIN PTB1

#define MOTOR_A_DIR_PIN     PTD7
#define MOTOR_B_DIR_PIN     PTD5

#elif defined TARGET_NUCLEO_F401RE 

#define MOTOR_A_PWM_PIN     PB_3
#define MOTOR_B_PWM_PIN     PB_4

#define MOTOR_A_BRAKE_PIN   PC_7
#define MOTOR_B_BRAKE_PIN   PA_9

#define MOTOR_A_CURRENT_PIN PA_0
#define MOTOR_B_CURRENT_PIN PA_1

#define MOTOR_A_DIR_PIN     PA_6
#define MOTOR_B_DIR_PIN     PA_5


#else

"Error Message: This target's not currently supported!  Please look in ArduinoMotorShield.cpp to add."

#endif

ArduinoMotorShield::ArduinoMotorShield() : m_a_motorControl  ( MOTOR_A_PWM_PIN ),     m_b_motorControl  ( MOTOR_B_PWM_PIN ),
                                           m_a_brake         ( MOTOR_A_BRAKE_PIN ),   m_b_brake         ( MOTOR_B_BRAKE_PIN ),
                                           m_a_motorCurrent  ( MOTOR_A_CURRENT_PIN ), m_b_motorCurrent  ( MOTOR_B_CURRENT_PIN ),
                                           m_a_motorDirection( MOTOR_A_DIR_PIN ),     m_b_motorDirection( MOTOR_B_DIR_PIN )
{
    m_motorControl[ MOTOR_A ]   = &m_a_motorControl;
    m_motorControl[ MOTOR_B ]   = &m_b_motorControl;
    m_brake[ MOTOR_A ]          = &m_a_brake;
    m_brake[ MOTOR_B ]          = &m_b_brake;
    m_motorCurrent[ MOTOR_A ]   = &m_a_motorCurrent;
    m_motorCurrent[ MOTOR_B ]   = &m_b_motorCurrent;
    m_motorDirection[ MOTOR_A ] = &m_a_motorDirection;
    m_motorDirection[ MOTOR_B ] = &m_b_motorDirection;
    m_speed[ MOTOR_A ]          = 0;
    m_speed[ MOTOR_B ]          = 0;
    m_motorForward[ MOTOR_A ]   = 0;
    m_motorForward[ MOTOR_B ]   = 0;
}

void ArduinoMotorShield::SetMotorPower( const Motor_e p_motor, const float p_speed, bool p_force )
{
    if( p_force || ( p_speed != m_speed[ p_motor ] ))
    {
        m_speed[ p_motor ] = p_speed;
        
        if( m_speed[ p_motor ] > 0.0f )
        {
            *(m_motorDirection[ p_motor ]) = m_motorForward[ p_motor ];
        } else {
            *(m_motorDirection[ p_motor ]) = !m_motorForward[ p_motor ];            
        }
        
        (m_motorControl[p_motor])->write( fabs( p_speed ) );        
    }
}

float ArduinoMotorShield::GetMotorCurrent( const Motor_e p_motor )
{
    /* AnalogIn returns 0..1.  The feedback from the current monitor is 0V = 0A, vref = MAX */
    return( *(m_motorCurrent[ p_motor ]) * MOTOR_MAX_CURRENT );
}

void ArduinoMotorShield::SetBrake( const Motor_e p_motor, bool p_enable )
{
    *(m_brake[ p_motor ]) = p_enable;
}

void ArduinoMotorShield::SetMotorPolarity( const Motor_e p_motor, const MotorDirection_e p_dir )
{
    if( m_motorForward[ p_motor ] != p_dir )
    {
        m_motorForward[ p_motor ] = p_dir;
        /* Reset the motor control to take into account the revised direction */
        SetMotorPower( p_motor, m_speed[ p_motor ], true );
    }
}