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

VNH5019Accel.cpp@5:b5f360a16354, 2014-08-07 (annotated)

Committer:
ianmcc
Date:
Thu Aug 07 12:23:30 2014 +0000
Revision:
5:b5f360a16354
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 5:b5f360a16354 1 #include "VNH5019Accel.h"
ianmcc 5:b5f360a16354 2
ianmcc 5:b5f360a16354 3 void VNH5019Accel::Interrupt()
ianmcc 5:b5f360a16354 4 {
ianmcc 5:b5f360a16354 5 float MyRequestedSpeed = RequestedSpeed;
ianmcc 5:b5f360a16354 6 if (CurrentSpeed != MyRequestedSpeed)
ianmcc 5:b5f360a16354 7 {
ianmcc 5:b5f360a16354 8 if (std::abs(CurrentSpeed-MyRequestedSpeed) < VNH5019ChangePerTick)
ianmcc 5:b5f360a16354 9 CurrentSpeed = MyRequestedSpeed;
ianmcc 5:b5f360a16354 10 else if (MyRequestedSpeed > CurrentSpeed)
ianmcc 5:b5f360a16354 11 CurrentSpeed += VNH5019ChangePerTick;
ianmcc 5:b5f360a16354 12 else
ianmcc 5:b5f360a16354 13 CurrentSpeed -= VNH5019ChangePerTick;
ianmcc 5:b5f360a16354 14 Driver.speed(CurrentSpeed);
ianmcc 5:b5f360a16354 15 }
ianmcc 5:b5f360a16354 16 else
ianmcc 5:b5f360a16354 17 {
ianmcc 5:b5f360a16354 18 float MyRequestedBrake = RequestedBrake;
ianmcc 5:b5f360a16354 19 if (CurrentBrake != MyRequestedBrake)
ianmcc 5:b5f360a16354 20 {
ianmcc 5:b5f360a16354 21 if (std::abs(CurrentBrake-MyRequestedBrake) < VNH5019BrakeChangePerTick)
ianmcc 5:b5f360a16354 22 CurrentBrake = MyRequestedBrake;
ianmcc 5:b5f360a16354 23 else if (MyRequestedBrake > CurrentBrake)
ianmcc 5:b5f360a16354 24 CurrentBrake += VNH5019BrakeChangePerTick;
ianmcc 5:b5f360a16354 25 else
ianmcc 5:b5f360a16354 26 CurrentBrake -= VNH5019BrakeChangePerTick;
ianmcc 5:b5f360a16354 27 Driver.brake(CurrentBrake);
ianmcc 5:b5f360a16354 28 }
ianmcc 5:b5f360a16354 29 }
ianmcc 5:b5f360a16354 30 }
ianmcc 5:b5f360a16354 31
ianmcc 5:b5f360a16354 32 DualVNH5019AccelMotorShield::DualVNH5019AccelMotorShield()
ianmcc 5:b5f360a16354 33 : m1(PTD4, PTA4, PTC8, PTB0, PTD5),
ianmcc 5:b5f360a16354 34 m2(PTC9, PTA13, PTD3, PTB1, PTD0)
ianmcc 5:b5f360a16354 35 {
ianmcc 5:b5f360a16354 36 }