MDSMC.h

00001 /*THIS CLASS INTERFACE THE MDSMC by pololu (Micro Dual Serial Motor Controller)
00002 WITH OUR MBED MODULE. THE MDSMC MUST BE USED WITH UART MODULE*/
00003 
00004 #ifndef MBED_MDSMC_H
00005 #define MBED_MDSMC_H
00006 
00007 #include "mbed.h"
00008 
00009 #define Start 0x80
00010 #define ChangeConfig 0x02
00011 #define Setting1 0x7F
00012 #define Setting2 0x13
00013 #define Device 0x00
00014 #define Forward1 0x7F
00015 #define Reverse1 0x7E
00016 #define Forward2 0x27
00017 #define Reverse2 0x26
00018 #define Right 0x21
00019 #define Left 0x05
00020 
00021 class MDSMC
00022 {
00023    public:
00024             /* - Declare Mbed connections
00025             ** - Select serial pin with "PinName data" parameter;
00026             ** - select reset pin with "PinName CLR" parameter;
00027             ** - select motor mode with "nM" parameter if you set nM = 1 the MDSMC drive one motor,
00028             **   if you set nM = 2 the MDSMC drive two motors;
00029             ** - select the baud rate with "bps" parameter you can select a bps value between 2000
00030             **   and 19200.*/
00031             MDSMC(PinName TX, PinName RX, PinName CLR, int bps, int nM);
00032             
00033             /* - Give direction and speed*/
00034             void use(char direction, char speed); 
00035    
00036    protected:
00037             Serial _serialMDSMC;
00038             DigitalOut _CLR;
00039             void reset();
00040 };
00041 typedef unsigned char BYTE;
00042 
00043 #endif
00044 
00045 /*example used to test the class
00046 
00047 #include "mbed.h"
00048 #include "MDSMC.h"
00049 
00050 MDSMC(USBTX,USBRX,p5);
00051 
00052 int main()
00053 {
00054     MDSMC.init(1,9600);
00055     wait(1);
00056     MDSMC.use(Forward1, 80);
00057     wait(1);
00058     MDSMC.use(Reverse1, 80);
00059     wait(2);
00060     MDSMC.init(2,9600);
00061     wait(1);
00062     MDSMC.use(Forward2, 80);
00063     wait(1);
00064     MDSMC.use(Reverse2, 80);
00065     wait(1);
00066     MDSMC.use(Right, 50);
00067     wait(1);
00068     MDSMC.use(Left, 50);
00069 }
00070 */