Sakis Kasampalis / Mbed 2 deprecated pwm-motor

control DC motor using pwm

Dependencies:   Motordriver mbed

Fork of Motor_HelloWorld by Simon Ford

pwm-motor.cpp@1:a96dd8db5c11, 2016-12-11 (annotated)

Committer:
faif
Date:
Sun Dec 11 21:58:45 2016 +0000
Revision:
1:a96dd8db5c11
Control a DC toy motor using PWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
faif 1:a96dd8db5c11 1 #include "mbed.h"
faif 1:a96dd8db5c11 2 #include "motordriver.h"
faif 1:a96dd8db5c11 3 #include "pwm-motor.h"
faif 1:a96dd8db5c11 4
faif 1:a96dd8db5c11 5 static const char CLS[] = "\x1B[2J"; // VT100 erase screen
faif 1:a96dd8db5c11 6 static const char HOME[] = "\x1B[H"; // VT100 home
faif 1:a96dd8db5c11 7
faif 1:a96dd8db5c11 8 // in seconds
faif 1:a96dd8db5c11 9 static const int move_delay = 0.02;
faif 1:a96dd8db5c11 10
faif 1:a96dd8db5c11 11 enum Direction
faif 1:a96dd8db5c11 12 {
faif 1:a96dd8db5c11 13 left,
faif 1:a96dd8db5c11 14 right,
faif 1:a96dd8db5c11 15 };
faif 1:a96dd8db5c11 16
faif 1:a96dd8db5c11 17 struct Movement
faif 1:a96dd8db5c11 18 {
faif 1:a96dd8db5c11 19 public:
faif 1:a96dd8db5c11 20 float start;
faif 1:a96dd8db5c11 21 float stop;
faif 1:a96dd8db5c11 22 float step;
faif 1:a96dd8db5c11 23 float delay;
faif 1:a96dd8db5c11 24 Direction direction;
faif 1:a96dd8db5c11 25
faif 1:a96dd8db5c11 26 Movement() {}
faif 1:a96dd8db5c11 27
faif 1:a96dd8db5c11 28 Movement(float startValue,
faif 1:a96dd8db5c11 29 float stopValue,
faif 1:a96dd8db5c11 30 float stepValue,
faif 1:a96dd8db5c11 31 float delayValue,
faif 1:a96dd8db5c11 32 Direction dir) :
faif 1:a96dd8db5c11 33 start(startValue),
faif 1:a96dd8db5c11 34 stop(stopValue),
faif 1:a96dd8db5c11 35 step(stepValue),
faif 1:a96dd8db5c11 36 delay(delayValue),
faif 1:a96dd8db5c11 37 direction(dir) {}
faif 1:a96dd8db5c11 38 };
faif 1:a96dd8db5c11 39
faif 1:a96dd8db5c11 40 Serial pc(USBTX, USBRX);
faif 1:a96dd8db5c11 41
faif 1:a96dd8db5c11 42 int main()
faif 1:a96dd8db5c11 43 {
faif 1:a96dd8db5c11 44 clear_screen();
faif 1:a96dd8db5c11 45 show_menu();
faif 1:a96dd8db5c11 46
faif 1:a96dd8db5c11 47 Motor motor(p21, p15, p17, 1); // PWM, Forward, Reverse, Can break
faif 1:a96dd8db5c11 48 Movement leftMovement(-1.0, 1.0, 0.01, move_delay, left);
faif 1:a96dd8db5c11 49 Movement rightMovement(1.0, -1.0, 0.01, move_delay, right);
faif 1:a96dd8db5c11 50
faif 1:a96dd8db5c11 51 while (true)
faif 1:a96dd8db5c11 52 {
faif 1:a96dd8db5c11 53 Movement currentMovement;
faif 1:a96dd8db5c11 54 switch(pc.getc())
faif 1:a96dd8db5c11 55 {
faif 1:a96dd8db5c11 56 case 'r':
faif 1:a96dd8db5c11 57 pc.printf("rotating right...\n\r");
faif 1:a96dd8db5c11 58 currentMovement = rightMovement;
faif 1:a96dd8db5c11 59 move(motor, currentMovement);
faif 1:a96dd8db5c11 60 break;
faif 1:a96dd8db5c11 61 case 'l':
faif 1:a96dd8db5c11 62 pc.printf("rotating left...\n\r");
faif 1:a96dd8db5c11 63 currentMovement = leftMovement;
faif 1:a96dd8db5c11 64 move(motor, currentMovement);
faif 1:a96dd8db5c11 65 break;
faif 1:a96dd8db5c11 66 case 's':
faif 1:a96dd8db5c11 67 pc.printf("stopping motor...\n\r");
faif 1:a96dd8db5c11 68 stop(motor);
faif 1:a96dd8db5c11 69 break;
faif 1:a96dd8db5c11 70 }
faif 1:a96dd8db5c11 71
faif 1:a96dd8db5c11 72 }
faif 1:a96dd8db5c11 73 }
faif 1:a96dd8db5c11 74
faif 1:a96dd8db5c11 75 void clear_screen()
faif 1:a96dd8db5c11 76 {
faif 1:a96dd8db5c11 77 pc.printf(CLS);
faif 1:a96dd8db5c11 78 pc.printf(HOME);
faif 1:a96dd8db5c11 79 }
faif 1:a96dd8db5c11 80
faif 1:a96dd8db5c11 81 void show_menu()
faif 1:a96dd8db5c11 82 {
faif 1:a96dd8db5c11 83 pc.printf("\rMotor controls:\n\r");
faif 1:a96dd8db5c11 84 pc.printf("l. Move left (counter-clockwise)\n\r");
faif 1:a96dd8db5c11 85 pc.printf("r. Move right (clockwise)\n\r");
faif 1:a96dd8db5c11 86 pc.printf("s. Stop\n\r");
faif 1:a96dd8db5c11 87 }
faif 1:a96dd8db5c11 88
faif 1:a96dd8db5c11 89 void move(Motor& motor, Movement& movement)
faif 1:a96dd8db5c11 90 {
faif 1:a96dd8db5c11 91 for (float s = movement.start;
faif 1:a96dd8db5c11 92 movement.direction == left ? s < movement.stop : s > movement.stop;
faif 1:a96dd8db5c11 93 movement.direction == left ? s += movement.step : s -= movement.step)
faif 1:a96dd8db5c11 94 {
faif 1:a96dd8db5c11 95 motor.speed(s);
faif 1:a96dd8db5c11 96 wait(movement.delay);
faif 1:a96dd8db5c11 97 }
faif 1:a96dd8db5c11 98 }
faif 1:a96dd8db5c11 99
faif 1:a96dd8db5c11 100
faif 1:a96dd8db5c11 101 void stop(Motor& motor)
faif 1:a96dd8db5c11 102 {
faif 1:a96dd8db5c11 103 motor.stop(0.0);
faif 1:a96dd8db5c11 104 }