Ian McCulloch / VNH5019

Library for the VNH5019 Motor Driver, with a helper class for the Pololu Dual VNH5019 Dual Motor Driver Shield http://www.pololu.com/product/2502

Dependents:   VNH5019_second VNH5019_second1

VNH5019.h@0:5d3ab0ea7f27, 2014-02-01 (annotated)

Committer:
ianmcc
Date:
Sat Feb 01 13:48:28 2014 +0000
Revision:
0:5d3ab0ea7f27
Child:
1:5e8d9ed18f0f
Initial checkin

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ianmcc 0:5d3ab0ea7f27 1 #ifndef DualVNH5019MotorShield_h
ianmcc 0:5d3ab0ea7f27 2 #define DualVNH5019MotorShield_h
ianmcc 0:5d3ab0ea7f27 3
ianmcc 0:5d3ab0ea7f27 4 #include <mbed.h>
ianmcc 0:5d3ab0ea7f27 5
ianmcc 0:5d3ab0ea7f27 6 class DualVNH5019MotorShield
ianmcc 0:5d3ab0ea7f27 7 {
ianmcc 0:5d3ab0ea7f27 8 public:
ianmcc 0:5d3ab0ea7f27 9 // default pin selection
ianmcc 0:5d3ab0ea7f27 10 DualVNH5019MotorShield(); // Default pin selection.
ianmcc 0:5d3ab0ea7f27 11
ianmcc 0:5d3ab0ea7f27 12 // User-defined pin selection.
ianmcc 0:5d3ab0ea7f27 13 DualVNH5019MotorShield(PinName INA1_, PinName INB1_, PinName ENDIAG1_, PinName CS1_, PinName PWM1_,
ianmcc 0:5d3ab0ea7f27 14 PinName INA2_, PinName INB2_, PinName ENDIAG2_, PinName CS2_, PinName PWM2_);
ianmcc 0:5d3ab0ea7f27 15
ianmcc 0:5d3ab0ea7f27 16 // Set motor speeds, from -1.0 to +1.0
ianmcc 0:5d3ab0ea7f27 17 void setM1Speed(float Speed);
ianmcc 0:5d3ab0ea7f27 18 void setM2Speed(float Speed);
ianmcc 0:5d3ab0ea7f27 19 void setSpeeds(float m1Speed, float m2Speed);
ianmcc 0:5d3ab0ea7f27 20
ianmcc 0:5d3ab0ea7f27 21 // stop (no current to the motors)
ianmcc 0:5d3ab0ea7f27 22 void setM1Stop();
ianmcc 0:5d3ab0ea7f27 23 void setM2Stop();
ianmcc 0:5d3ab0ea7f27 24
ianmcc 0:5d3ab0ea7f27 25 // brake, with strength 0..1
ianmcc 0:5d3ab0ea7f27 26 void setM1Brake(float Brake);
ianmcc 0:5d3ab0ea7f27 27 void setM2Brake(float Brake);
ianmcc 0:5d3ab0ea7f27 28 void setBrakes(float m1Brake, float m2Brake);
ianmcc 0:5d3ab0ea7f27 29
ianmcc 0:5d3ab0ea7f27 30 // return the current supplied to the motors
ianmcc 0:5d3ab0ea7f27 31 float getM1CurrentMA();
ianmcc 0:5d3ab0ea7f27 32 float getM2CurrentMA();
ianmcc 0:5d3ab0ea7f27 33
ianmcc 0:5d3ab0ea7f27 34 // fault
ianmcc 0:5d3ab0ea7f27 35 bool isM1Fault();
ianmcc 0:5d3ab0ea7f27 36 bool isM2Fault();
ianmcc 0:5d3ab0ea7f27 37
ianmcc 0:5d3ab0ea7f27 38 // If a fault occurs, then we follow the procedure from the data sheet to clear it
ianmcc 0:5d3ab0ea7f27 39 void clearM1Fault();
ianmcc 0:5d3ab0ea7f27 40 void clearM2Fault();
ianmcc 0:5d3ab0ea7f27 41
ianmcc 0:5d3ab0ea7f27 42 // disable / enable (isFault() will return true if the motor is disabled).
ianmcc 0:5d3ab0ea7f27 43 // Disabling the motor also sets the speed to 0 and brakes to LOW.
ianmcc 0:5d3ab0ea7f27 44 void disableM1();
ianmcc 0:5d3ab0ea7f27 45 void disableM2();
ianmcc 0:5d3ab0ea7f27 46
ianmcc 0:5d3ab0ea7f27 47 void enableM1(bool Enable = true);
ianmcc 0:5d3ab0ea7f27 48 void enableM2(bool Enable = true);
ianmcc 0:5d3ab0ea7f27 49
ianmcc 0:5d3ab0ea7f27 50 private:
ianmcc 0:5d3ab0ea7f27 51 void init(); // Initialize TIMER 1, set the PWM to 20kHZ.
ianmcc 0:5d3ab0ea7f27 52
ianmcc 0:5d3ab0ea7f27 53 DigitalOut INA1;
ianmcc 0:5d3ab0ea7f27 54 DigitalOut INB1;
ianmcc 0:5d3ab0ea7f27 55 DigitalInOut ENDIAG1;
ianmcc 0:5d3ab0ea7f27 56 AnalogIn CS1;
ianmcc 0:5d3ab0ea7f27 57 PwmOut PWM1;
ianmcc 0:5d3ab0ea7f27 58
ianmcc 0:5d3ab0ea7f27 59 DigitalOut INA2;
ianmcc 0:5d3ab0ea7f27 60 DigitalOut INB2;
ianmcc 0:5d3ab0ea7f27 61 DigitalInOut ENDIAG2;
ianmcc 0:5d3ab0ea7f27 62 AnalogIn CS2;
ianmcc 0:5d3ab0ea7f27 63 PwmOut PWM2;
ianmcc 0:5d3ab0ea7f27 64 };
ianmcc 0:5d3ab0ea7f27 65
ianmcc 0:5d3ab0ea7f27 66 #endif