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@5:b5f360a16354, 2014-08-07 (annotated)

Committer:
ianmcc
Date:
Thu Aug 07 12:23:30 2014 +0000
Revision:
5:b5f360a16354
Parent:
2:d670a4b999ab 
Added VNH5019Accel for a drop-in replacement for the VNH5019 but has a built-in acceleration limiter.  Default maximum acceleration will result in ramping up to maximum speed in 1/4 second.

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 1:5e8d9ed18f0f 6 class VNH5019
ianmcc 1:5e8d9ed18f0f 7 {
ianmcc 1:5e8d9ed18f0f 8 public:
ianmcc 1:5e8d9ed18f0f 9 VNH5019(PinName INA_, PinName INB_, PinName ENDIAG_, PinName CS_, PinName PWM_);
ianmcc 1:5e8d9ed18f0f 10
ianmcc 1:5e8d9ed18f0f 11 // set motor speed from -1.0 to +1.0
ianmcc 1:5e8d9ed18f0f 12 void speed(float Speed);
ianmcc 1:5e8d9ed18f0f 13
ianmcc 1:5e8d9ed18f0f 14 // stop (no current to the motors)
ianmcc 1:5e8d9ed18f0f 15 void stop();
ianmcc 1:5e8d9ed18f0f 16
ianmcc 1:5e8d9ed18f0f 17 // Brake, with strength 0..1
ianmcc 1:5e8d9ed18f0f 18 void brake(float Brake);
ianmcc 1:5e8d9ed18f0f 19
ianmcc 1:5e8d9ed18f0f 20 // returns the current through the motor, in mA
ianmcc 1:5e8d9ed18f0f 21 float get_current_mA();
ianmcc 1:5e8d9ed18f0f 22
ianmcc 1:5e8d9ed18f0f 23 // returns true if there has been a fault
ianmcc 1:5e8d9ed18f0f 24 bool is_fault();
ianmcc 1:5e8d9ed18f0f 25
ianmcc 1:5e8d9ed18f0f 26 // Clears the fault condition
ianmcc 1:5e8d9ed18f0f 27 // PRECONDITION: is_fault()
ianmcc 1:5e8d9ed18f0f 28 void clear_fault();
ianmcc 1:5e8d9ed18f0f 29
ianmcc 1:5e8d9ed18f0f 30 // disable the motor, and set outputs to zero. This is a low power mode.
ianmcc 1:5e8d9ed18f0f 31 void disable();
ianmcc 1:5e8d9ed18f0f 32
ianmcc 1:5e8d9ed18f0f 33 // enable the motor.
ianmcc 1:5e8d9ed18f0f 34 void enable();
ianmcc 2:d670a4b999ab 35
ianmcc 2:d670a4b999ab 36 // set the PWM period of oscillation in seconds
ianmcc 2:d670a4b999ab 37 void set_pwm_period(float p)
ianmcc 2:d670a4b999ab 38 { PWM.period(p); }
ianmcc 1:5e8d9ed18f0f 39
ianmcc 1:5e8d9ed18f0f 40 private:
ianmcc 2:d670a4b999ab 41 void init();
ianmcc 1:5e8d9ed18f0f 42
ianmcc 1:5e8d9ed18f0f 43 DigitalOut INA;
ianmcc 1:5e8d9ed18f0f 44 DigitalOut INB;
ianmcc 1:5e8d9ed18f0f 45 DigitalInOut ENDIAG;
ianmcc 1:5e8d9ed18f0f 46 AnalogIn CS;
ianmcc 1:5e8d9ed18f0f 47 PwmOut PWM;
ianmcc 1:5e8d9ed18f0f 48 };
ianmcc 1:5e8d9ed18f0f 49
ianmcc 1:5e8d9ed18f0f 50 // Helper class for the Pololu dual VNH5019 motor shield.
ianmcc 1:5e8d9ed18f0f 51 // The default constructor uses the default arduino pins.
ianmcc 1:5e8d9ed18f0f 52 // The motors can be accessed either by .m1 or .m2, or by operator()(i) where i is 1 or 2.
ianmcc 0:5d3ab0ea7f27 53 class DualVNH5019MotorShield
ianmcc 0:5d3ab0ea7f27 54 {
ianmcc 0:5d3ab0ea7f27 55 public:
ianmcc 0:5d3ab0ea7f27 56 // default pin selection
ianmcc 0:5d3ab0ea7f27 57 DualVNH5019MotorShield(); // Default pin selection.
ianmcc 0:5d3ab0ea7f27 58
ianmcc 0:5d3ab0ea7f27 59 // User-defined pin selection.
ianmcc 0:5d3ab0ea7f27 60 DualVNH5019MotorShield(PinName INA1_, PinName INB1_, PinName ENDIAG1_, PinName CS1_, PinName PWM1_,
ianmcc 0:5d3ab0ea7f27 61 PinName INA2_, PinName INB2_, PinName ENDIAG2_, PinName CS2_, PinName PWM2_);
ianmcc 0:5d3ab0ea7f27 62
ianmcc 1:5e8d9ed18f0f 63 // returns the given motor object, 1 or 2.
ianmcc 1:5e8d9ed18f0f 64 VNH5019& operator()(int m);
ianmcc 0:5d3ab0ea7f27 65
ianmcc 1:5e8d9ed18f0f 66 VNH5019 m1;
ianmcc 1:5e8d9ed18f0f 67 VNH5019 m2;
ianmcc 0:5d3ab0ea7f27 68 };
ianmcc 0:5d3ab0ea7f27 69
ianmcc 5:b5f360a16354 70 inline
ianmcc 5:b5f360a16354 71 void VNH5019::stop()
ianmcc 5:b5f360a16354 72 {
ianmcc 5:b5f360a16354 73 INA = 0;
ianmcc 5:b5f360a16354 74 INB = 0;
ianmcc 5:b5f360a16354 75 PWM = 0.0;
ianmcc 5:b5f360a16354 76 }
ianmcc 5:b5f360a16354 77
ianmcc 5:b5f360a16354 78 inline
ianmcc 5:b5f360a16354 79 void VNH5019::brake(float Brake)
ianmcc 5:b5f360a16354 80 {
ianmcc 5:b5f360a16354 81 // normalize Brake to 0..1
ianmcc 5:b5f360a16354 82 if (Brake < 0)
ianmcc 5:b5f360a16354 83 Brake = -Brake;
ianmcc 5:b5f360a16354 84 if (Brake > 1.0)
ianmcc 5:b5f360a16354 85 Brake = 1.0;
ianmcc 5:b5f360a16354 86
ianmcc 5:b5f360a16354 87 INA = 0;
ianmcc 5:b5f360a16354 88 INB = 0;
ianmcc 5:b5f360a16354 89 PWM = Brake;
ianmcc 5:b5f360a16354 90 }
ianmcc 5:b5f360a16354 91
ianmcc 5:b5f360a16354 92 inline
ianmcc 5:b5f360a16354 93 float VNH5019::get_current_mA()
ianmcc 5:b5f360a16354 94 {
ianmcc 5:b5f360a16354 95 // Scale is 144mV per A
ianmcc 5:b5f360a16354 96 // Scale factor is 3.3 / 0.144 = 22.916667
ianmcc 5:b5f360a16354 97 return CS.read() * 22.916667;
ianmcc 5:b5f360a16354 98 }
ianmcc 5:b5f360a16354 99
ianmcc 5:b5f360a16354 100 inline
ianmcc 5:b5f360a16354 101 bool VNH5019::is_fault()
ianmcc 5:b5f360a16354 102 {
ianmcc 5:b5f360a16354 103 return !ENDIAG;
ianmcc 5:b5f360a16354 104 }
ianmcc 5:b5f360a16354 105
ianmcc 5:b5f360a16354 106 inline
ianmcc 5:b5f360a16354 107 void VNH5019::disable()
ianmcc 5:b5f360a16354 108 {
ianmcc 5:b5f360a16354 109 ENDIAG.output();
ianmcc 5:b5f360a16354 110 ENDIAG.write(0);
ianmcc 5:b5f360a16354 111 }
ianmcc 5:b5f360a16354 112
ianmcc 5:b5f360a16354 113 inline
ianmcc 5:b5f360a16354 114 void VNH5019::enable()
ianmcc 5:b5f360a16354 115 {
ianmcc 5:b5f360a16354 116 ENDIAG.input();
ianmcc 5:b5f360a16354 117 }
ianmcc 5:b5f360a16354 118
ianmcc 5:b5f360a16354 119 inline
ianmcc 5:b5f360a16354 120 DualVNH5019MotorShield::DualVNH5019MotorShield()
ianmcc 5:b5f360a16354 121 : m1(PTD4, PTA4, PTC8, PTB0, PTD5),
ianmcc 5:b5f360a16354 122 m2(PTC9, PTA13, PTD3, PTB1, PTD0)
ianmcc 5:b5f360a16354 123 {
ianmcc 5:b5f360a16354 124 }
ianmcc 5:b5f360a16354 125
ianmcc 5:b5f360a16354 126 inline
ianmcc 5:b5f360a16354 127 DualVNH5019MotorShield::DualVNH5019MotorShield(PinName INA1_, PinName INB1_, PinName ENDIAG1_, PinName CS1_, PinName PWM1_,
ianmcc 5:b5f360a16354 128 PinName INA2_, PinName INB2_, PinName ENDIAG2_, PinName CS2_, PinName PWM2_)
ianmcc 5:b5f360a16354 129 : m1(INA1_, INB1_, ENDIAG1_, CS1_, PWM1_),
ianmcc 5:b5f360a16354 130 m2(INA2_, INB2_, ENDIAG2_, CS2_, PWM2_)
ianmcc 5:b5f360a16354 131 {
ianmcc 5:b5f360a16354 132 }
ianmcc 5:b5f360a16354 133
ianmcc 5:b5f360a16354 134 inline
ianmcc 5:b5f360a16354 135 VNH5019&
ianmcc 5:b5f360a16354 136 DualVNH5019MotorShield::operator()(int m)
ianmcc 5:b5f360a16354 137 {
ianmcc 5:b5f360a16354 138 return m == 1 ? m1 : m2;
ianmcc 5:b5f360a16354 139 }
ianmcc 5:b5f360a16354 140
ianmcc 5:b5f360a16354 141
ianmcc 0:5d3ab0ea7f27 142 #endif