Arsapol Manamunchaiyaporn / Mbed 2 deprecated CleaningM-Palm

before test

Dependencies:   BEAR_Protocol_Edited BufferedSerial Debug MaxSonar PID Process QEI UI iSerial mbed

Fork of clean_V1 by Betago

motor/Motor.h@7:0dac9d4ff04f, 2016-06-07 (annotated)

Committer:
icyzkungz
Date:
Tue Jun 07 16:17:34 2016 +0000
Revision:
7:0dac9d4ff04f
Parent:
1:45f1573d65a1 
before test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 1:45f1573d65a1 1 /* mbed simple H-bridge motor controller
palmdotax 1:45f1573d65a1 2 * Copyright (c) 2007-2010, sford
palmdotax 1:45f1573d65a1 3 *
palmdotax 1:45f1573d65a1 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
palmdotax 1:45f1573d65a1 5 * of this software and associated documentation files (the "Software"), to deal
palmdotax 1:45f1573d65a1 6 * in the Software without restriction, including without limitation the rights
palmdotax 1:45f1573d65a1 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
palmdotax 1:45f1573d65a1 8 * copies of the Software, and to permit persons to whom the Software is
palmdotax 1:45f1573d65a1 9 * furnished to do so, subject to the following conditions:
palmdotax 1:45f1573d65a1 10 *
palmdotax 1:45f1573d65a1 11 * The above copyright notice and this permission notice shall be included in
palmdotax 1:45f1573d65a1 12 * all copies or substantial portions of the Software.
palmdotax 1:45f1573d65a1 13 *
palmdotax 1:45f1573d65a1 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
palmdotax 1:45f1573d65a1 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
palmdotax 1:45f1573d65a1 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
palmdotax 1:45f1573d65a1 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
palmdotax 1:45f1573d65a1 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
palmdotax 1:45f1573d65a1 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
palmdotax 1:45f1573d65a1 20 * THE SOFTWARE.
palmdotax 1:45f1573d65a1 21 */
palmdotax 1:45f1573d65a1 22
palmdotax 1:45f1573d65a1 23 #ifndef MBED_MOTOR_H
palmdotax 1:45f1573d65a1 24 #define MBED_MOTOR_H
palmdotax 1:45f1573d65a1 25
palmdotax 1:45f1573d65a1 26 #include "mbed.h"
palmdotax 1:45f1573d65a1 27
palmdotax 1:45f1573d65a1 28 #define BRAKE_HIGH 1
palmdotax 1:45f1573d65a1 29 #define BRAKE_LOW 0
palmdotax 1:45f1573d65a1 30
palmdotax 1:45f1573d65a1 31 /** Interface to control a standard DC motor
palmdotax 1:45f1573d65a1 32 * with an H-bridge using a PwmOut and 2 DigitalOuts
palmdotax 1:45f1573d65a1 33 */
palmdotax 1:45f1573d65a1 34 class Motor {
palmdotax 1:45f1573d65a1 35 public:
palmdotax 1:45f1573d65a1 36
palmdotax 1:45f1573d65a1 37 /** Create a motor control interface
palmdotax 1:45f1573d65a1 38 *
palmdotax 1:45f1573d65a1 39 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
palmdotax 1:45f1573d65a1 40 * @param fwd A DigitalOut, set high when the motor should go forward
palmdotax 1:45f1573d65a1 41 * @param rev A DigitalOut, set high when the motor should go backwards
palmdotax 1:45f1573d65a1 42 */
palmdotax 1:45f1573d65a1 43 Motor(PinName pwm, PinName fwd, PinName rev);
palmdotax 1:45f1573d65a1 44
palmdotax 1:45f1573d65a1 45 /** Set the speed of the motor
palmdotax 1:45f1573d65a1 46 *
palmdotax 1:45f1573d65a1 47 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
palmdotax 1:45f1573d65a1 48 */
palmdotax 1:45f1573d65a1 49 void speed(float speed);
palmdotax 1:45f1573d65a1 50
palmdotax 1:45f1573d65a1 51 /** Set the period of the pwm duty cycle.
palmdotax 1:45f1573d65a1 52 *
palmdotax 1:45f1573d65a1 53 * Wrapper for PwmOut::period()
palmdotax 1:45f1573d65a1 54 *
palmdotax 1:45f1573d65a1 55 * @param seconds - Pwm duty cycle in seconds.
palmdotax 1:45f1573d65a1 56 */
palmdotax 1:45f1573d65a1 57 void period(float period);
palmdotax 1:45f1573d65a1 58
palmdotax 1:45f1573d65a1 59 /** Brake the H-bridge to GND or VCC.
palmdotax 1:45f1573d65a1 60 *
palmdotax 1:45f1573d65a1 61 * Defaults to breaking to VCC.
palmdotax 1:45f1573d65a1 62 *
palmdotax 1:45f1573d65a1 63 * Brake to GND => inA = inB = 0
palmdotax 1:45f1573d65a1 64 * Brake to VCC => inA = inB = 1
palmdotax 1:45f1573d65a1 65 */
palmdotax 1:45f1573d65a1 66 void brake(int highLow = BRAKE_HIGH);
palmdotax 1:45f1573d65a1 67
palmdotax 1:45f1573d65a1 68 protected:
palmdotax 1:45f1573d65a1 69 PwmOut _pwm;
palmdotax 1:45f1573d65a1 70 DigitalOut _fwd;
palmdotax 1:45f1573d65a1 71 DigitalOut _rev;
palmdotax 1:45f1573d65a1 72
palmdotax 1:45f1573d65a1 73 };
palmdotax 1:45f1573d65a1 74
palmdotax 1:45f1573d65a1 75 #endif
palmdotax 1:45f1573d65a1 76