Revision 0:e869912db757, committed 2012-11-16

Comitter:

fangoman91

Date:

Fri Nov 16 20:26:54 2012 +0000

Commit message:

this class interface the MDSMC (Micro Dual Serial Motor Controller) by pololu

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MDSMC.cpp	Fri Nov 16 20:26:54 2012 +0000
@@ -0,0 +1,43 @@
+//.cpp file of MDSMC library
+
+#include "mbed.h"
+#include "MDSMC.h"
+
+MDSMC::MDSMC(PinName TX, PinName RX, PinName CLR, int bps, int nM): _serialMDSMC(TX, RX), _CLR(CLR)
+{    
+    reset();
+    _serialMDSMC.baud(bps);
+    switch (nM)
+    {
+        case 1:
+            _serialMDSMC.putc(Start);
+            _serialMDSMC.putc(ChangeConfig);
+            _serialMDSMC.putc(Setting1);
+            reset();
+            break;
+        case 2:
+            _serialMDSMC.putc(Start);
+            _serialMDSMC.putc(ChangeConfig);
+            _serialMDSMC.putc(Setting2);
+            reset();
+            break; 
+    }
+}  
+ 
+//user functions
+void MDSMC::use(char direction, char speed)
+{
+    _serialMDSMC.putc(Start);
+    _serialMDSMC.putc(Device);
+    _serialMDSMC.putc(direction);
+    _serialMDSMC.putc(speed);
+}                            
+
+void MDSMC::reset()
+{
+    _CLR = 0;
+    wait_us(2);
+    _CLR = 1; 
+} 
+
+                                                                                  
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MDSMC.h	Fri Nov 16 20:26:54 2012 +0000
@@ -0,0 +1,70 @@
+/*THIS CLASS INTERFACE THE MDSMC by pololu (Micro Dual Serial Motor Controller)
+WITH OUR MBED MODULE. THE MDSMC MUST BE USED WITH UART MODULE*/
+
+#ifndef MBED_MDSMC_H
+#define MBED_MDSMC_H
+
+#include "mbed.h"
+
+#define Start 0x80
+#define ChangeConfig 0x02
+#define Setting1 0x7F
+#define Setting2 0x13
+#define Device 0x00
+#define Forward1 0x7F
+#define Reverse1 0x7E
+#define Forward2 0x27
+#define Reverse2 0x26
+#define Right 0x21
+#define Left 0x05
+
+class MDSMC
+{
+   public:
+            /* - Declare Mbed connections
+            ** - Select serial pin with "PinName data" parameter;
+            ** - select reset pin with "PinName CLR" parameter;
+            ** - select motor mode with "nM" parameter if you set nM = 1 the MDSMC drive one motor,
+            **   if you set nM = 2 the MDSMC drive two motors;
+            ** - select the baud rate with "bps" parameter you can select a bps value between 2000
+            **   and 19200.*/
+            MDSMC(PinName TX, PinName RX, PinName CLR, int bps, int nM);
+            
+            /* - Give direction and speed*/
+            void use(char direction, char speed); 
+   
+   protected:
+            Serial _serialMDSMC;
+            DigitalOut _CLR;
+            void reset();
+};
+typedef unsigned char BYTE;
+
+#endif
+
+/*example used to test the class
+
+#include "mbed.h"
+#include "MDSMC.h"
+
+MDSMC(USBTX,USBRX,p5);
+
+int main()
+{
+    MDSMC.init(1,9600);
+    wait(1);
+    MDSMC.use(Forward1, 80);
+    wait(1);
+    MDSMC.use(Reverse1, 80);
+    wait(2);
+    MDSMC.init(2,9600);
+    wait(1);
+    MDSMC.use(Forward2, 80);
+    wait(1);
+    MDSMC.use(Reverse2, 80);
+    wait(1);
+    MDSMC.use(Right, 50);
+    wait(1);
+    MDSMC.use(Left, 50);
+}
+*/
\ No newline at end of file