motor.h

00001 #ifndef __MOTOR_H
00002 #define __MOTOR_H
00003 
00004 #include "mbed.h"
00005 //#define ALARM
00006 #define MOTOR_SIDE 1
00007 #define NON_MOTOR_SIDE 0
00008 #define CD_2D34M__TxCM_S 625.0
00009 #define CD_2D24MB__TxCM_S 125.0
00010 #define CD_2D34M__CW 1
00011 #define CD_2D24MB__CW 0
00012 
00013 class Motor
00014 {
00015 public:
00016     Motor(PinName p, PinName d, PinName e, char* n, float Tcs, int cw/*, InterruptIn *c, InterruptIn *cc*/);
00017 // p_us = signal period in micro_seconds
00018 // dc   = signal duty-cycle (0.0 to 1.0)
00019     void pwm_io(int p_us, float dc); // not used...
00020     void go(int direction);
00021     void setSpeed(float cm_s);
00022     float speed() {
00023         return (float)_TXcm_s/(_onDelay+_offDelay);
00024     }
00025     void reset() {
00026         if(_lock){
00027             return;
00028         }
00029         _pos=0;
00030     }
00031     void to(float p);
00032     float position() {
00033         if(_lock){
00034             return -1;
00035         }
00036         return _pos;
00037     }
00038     bool moving(){ return _lock; }
00039     void setPosition(float p) {
00040         if(_lock){
00041             return;
00042         }
00043         _pos = p;
00044     }
00045     void stop(void);
00046 protected:
00047     void toggleOn(void);
00048     void toggleOff(void);
00049     void rotateCallBack(void);
00050     Timeout _pulseTimeout, _rotateTimeout;
00051     DigitalOut _pulse, _dir, _error;
00052     int _onDelay;
00053     int _offDelay;
00054     float _TXcm_s;
00055     char* _name;
00056     float _pos, _goal;
00057     int _cw,_ccw;
00058     bool _lock;
00059 //    InterruptIn *_clockStop, *_counterClockStop;
00060 };
00061 
00062 class CD_2D34M: public Motor
00063 {
00064 public:
00065     CD_2D34M(char* n, PinName d, PinName p, PinName a, PinName e);
00066 private:
00067     void alarm_event();
00068     void alarm_reset();
00069     InterruptIn alarm;
00070 };
00071 
00072 class CD_2D24MB: public Motor
00073 {
00074 public:
00075     CD_2D24MB(char* n, PinName p, PinName d, PinName e);
00076 
00077 };
00078 
00079 #endif // __MOTOR_H