Javier Sanchez Peña / Motor

Control a DC motor via a standard H-bridge using a PwmOut pin to control speed and two DigitalOut pins to control direction. Can change pwm period on the PwmOut pin, and also brake high or low.

Fork of Motor by Aaron Berk

Motor.h@1:c75b234558af, 2010-09-07 (annotated)

Committer:
aberk
Date:
Tue Sep 07 11:21:42 2010 +0000
Revision:
1:c75b234558af
Parent:
0:f05e09f8f5d9
Child:
2:e138b2d99454
Added functionality to brake high or low.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aberk 0:f05e09f8f5d9 1 /* mbed simple H-bridge motor controller
aberk 0:f05e09f8f5d9 2 * Copyright (c) 2007-2010, sford
aberk 0:f05e09f8f5d9 3 *
aberk 0:f05e09f8f5d9 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
aberk 0:f05e09f8f5d9 5 * of this software and associated documentation files (the "Software"), to deal
aberk 0:f05e09f8f5d9 6 * in the Software without restriction, including without limitation the rights
aberk 0:f05e09f8f5d9 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
aberk 0:f05e09f8f5d9 8 * copies of the Software, and to permit persons to whom the Software is
aberk 0:f05e09f8f5d9 9 * furnished to do so, subject to the following conditions:
aberk 0:f05e09f8f5d9 10 *
aberk 0:f05e09f8f5d9 11 * The above copyright notice and this permission notice shall be included in
aberk 0:f05e09f8f5d9 12 * all copies or substantial portions of the Software.
aberk 0:f05e09f8f5d9 13 *
aberk 0:f05e09f8f5d9 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
aberk 0:f05e09f8f5d9 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
aberk 0:f05e09f8f5d9 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
aberk 0:f05e09f8f5d9 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
aberk 0:f05e09f8f5d9 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
aberk 0:f05e09f8f5d9 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
aberk 0:f05e09f8f5d9 20 * THE SOFTWARE.
aberk 0:f05e09f8f5d9 21 */
aberk 0:f05e09f8f5d9 22
aberk 0:f05e09f8f5d9 23 #ifndef MBED_MOTOR_H
aberk 0:f05e09f8f5d9 24 #define MBED_MOTOR_H
aberk 0:f05e09f8f5d9 25
aberk 0:f05e09f8f5d9 26 #include "mbed.h"
aberk 0:f05e09f8f5d9 27
aberk 1:c75b234558af 28 #define BRAKE_HIGH 1
aberk 1:c75b234558af 29 #define BRAKE_LOW 0
aberk 1:c75b234558af 30
aberk 0:f05e09f8f5d9 31 /** Interface to control a standard DC motor
aberk 0:f05e09f8f5d9 32 * with an H-bridge using a PwmOut and 2 DigitalOuts
aberk 0:f05e09f8f5d9 33 */
aberk 0:f05e09f8f5d9 34 class Motor {
aberk 0:f05e09f8f5d9 35 public:
aberk 0:f05e09f8f5d9 36
aberk 0:f05e09f8f5d9 37 /** Create a motor control interface
aberk 0:f05e09f8f5d9 38 *
aberk 0:f05e09f8f5d9 39 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
aberk 0:f05e09f8f5d9 40 * @param fwd A DigitalOut, set high when the motor should go forward
aberk 0:f05e09f8f5d9 41 * @param rev A DigitalOut, set high when the motor should go backwards
aberk 0:f05e09f8f5d9 42 */
aberk 0:f05e09f8f5d9 43 Motor(PinName pwm, PinName fwd, PinName rev);
aberk 0:f05e09f8f5d9 44
aberk 0:f05e09f8f5d9 45 /** Set the speed of the motor
aberk 0:f05e09f8f5d9 46 *
aberk 0:f05e09f8f5d9 47 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
aberk 0:f05e09f8f5d9 48 */
aberk 0:f05e09f8f5d9 49 void speed(float speed);
aberk 0:f05e09f8f5d9 50
aberk 0:f05e09f8f5d9 51 /** Set the period of the pwm duty cycle.
aberk 0:f05e09f8f5d9 52 *
aberk 0:f05e09f8f5d9 53 * Wrapper for PwmOut::period()
aberk 0:f05e09f8f5d9 54 *
aberk 0:f05e09f8f5d9 55 * @param seconds - Pwm duty cycle in seconds.
aberk 0:f05e09f8f5d9 56 */
aberk 0:f05e09f8f5d9 57 void period(float period);
aberk 1:c75b234558af 58
aberk 1:c75b234558af 59 /** Brake the H-bridge to GND or VCC.
aberk 1:c75b234558af 60 *
aberk 1:c75b234558af 61 * Defaults to breaking to VCC.
aberk 1:c75b234558af 62 *
aberk 1:c75b234558af 63 * Brake to GND => inA = inB = 0
aberk 1:c75b234558af 64 * Brake to VCC => inA = inB = 1
aberk 1:c75b234558af 65 */
aberk 1:c75b234558af 66 void brake(int highLow = BRAKE_HIGH);
aberk 0:f05e09f8f5d9 67
aberk 0:f05e09f8f5d9 68 protected:
aberk 0:f05e09f8f5d9 69 PwmOut _pwm;
aberk 0:f05e09f8f5d9 70 DigitalOut _fwd;
aberk 0:f05e09f8f5d9 71 DigitalOut _rev;
aberk 0:f05e09f8f5d9 72
aberk 0:f05e09f8f5d9 73 };
aberk 0:f05e09f8f5d9 74
aberk 0:f05e09f8f5d9 75 #endif