Javier Sanchez Peña / Mbed 2 deprecated pwm_motor_prueva

control de velocidad progresivo de un motor de CC en ambas direcciones

Dependencies:   mbed

Fork of pwm_example by Baser Kandehir

main.cpp@4:84669d69a2d4, 2017-03-22 (annotated)

Committer:
javierjsp
Date:
Wed Mar 22 17:08:53 2017 +0000
Revision:
4:84669d69a2d4
Parent:
3:1174132d5190 
version 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BaserK 0:908bb50b9f41 1 /* PWM motor driving example on LPC1768
BaserK 0:908bb50b9f41 2 *
BaserK 0:908bb50b9f41 3 * @author: Baser Kandehir
BaserK 0:908bb50b9f41 4 * @date: July 9, 2015
BaserK 3:1174132d5190 5 * @license: MIT license
BaserK 3:1174132d5190 6 *
BaserK 3:1174132d5190 7 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
BaserK 3:1174132d5190 8 *
BaserK 3:1174132d5190 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
BaserK 3:1174132d5190 10 * of this software and associated documentation files (the "Software"), to deal
BaserK 3:1174132d5190 11 * in the Software without restriction, including without limitation the rights
BaserK 3:1174132d5190 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
BaserK 3:1174132d5190 13 * copies of the Software, and to permit persons to whom the Software is
BaserK 3:1174132d5190 14 * furnished to do so, subject to the following conditions:
BaserK 3:1174132d5190 15 *
BaserK 3:1174132d5190 16 * The above copyright notice and this permission notice shall be included in
BaserK 3:1174132d5190 17 * all copies or substantial portions of the Software.
BaserK 3:1174132d5190 18 *
BaserK 3:1174132d5190 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
BaserK 3:1174132d5190 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
BaserK 3:1174132d5190 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
BaserK 3:1174132d5190 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
BaserK 3:1174132d5190 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
BaserK 3:1174132d5190 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
BaserK 3:1174132d5190 25 * THE SOFTWARE.
BaserK 3:1174132d5190 26 *
BaserK 0:908bb50b9f41 27 * @description of the program:
BaserK 0:908bb50b9f41 28 *
BaserK 1:554b65be8506 29 * Program is written as an example for the PWM control on mbed LPC1768.
BaserK 0:908bb50b9f41 30 * After making neccessary connections, this program can control speed
BaserK 0:908bb50b9f41 31 * and direction of a motor. Example code will increase motor speed to
BaserK 0:908bb50b9f41 32 * its max in 5 seconds and decrease the motor speed from max to zero
BaserK 2:65f66eff154f 33 * in 5 seconds and it will keep doing this.
BaserK 0:908bb50b9f41 34 *
BaserK 0:908bb50b9f41 35 * @connections:
BaserK 0:908bb50b9f41 36 *--------------------------------------------------------------
BaserK 0:908bb50b9f41 37 * |LPC1768| |Peripherals|
BaserK 0:908bb50b9f41 38 * Pin 21 --------> First input of the L293D
BaserK 0:908bb50b9f41 39 * Pin 22 --------> Second input of the L293D
BaserK 0:908bb50b9f41 40 * GND -----------> GND of any peripheral
BaserK 0:908bb50b9f41 41 * VOUT (3.3 V) --> VCC of the the motor driver
BaserK 0:908bb50b9f41 42 *---------------------------------------------------------------
BaserK 0:908bb50b9f41 43 * Note: L293D is a very simple and useful motor driver that mostly used in
BaserK 0:908bb50b9f41 44 * robotics. For detailed info and neccessary connections for L293D, please
BaserK 0:908bb50b9f41 45 * refer to its datasheet.
BaserK 0:908bb50b9f41 46 */
BaserK 0:908bb50b9f41 47
BaserK 0:908bb50b9f41 48 #include "mbed.h"
BaserK 0:908bb50b9f41 49
javierjsp 4:84669d69a2d4 50 PwmOut PWM1(PF_8); // pwm outputs
javierjsp 4:84669d69a2d4 51 PwmOut PWM2(PF_7);
javierjsp 4:84669d69a2d4 52 DigitalOut led1(LED1);
BaserK 0:908bb50b9f41 53
BaserK 0:908bb50b9f41 54 /* Function prototype */
BaserK 0:908bb50b9f41 55 void motorControl(bool dir, float pwmVal);
BaserK 0:908bb50b9f41 56
BaserK 0:908bb50b9f41 57 int main()
BaserK 0:908bb50b9f41 58 {
javierjsp 4:84669d69a2d4 59
javierjsp 4:84669d69a2d4 60 led1 = 1;
javierjsp 4:84669d69a2d4 61 wait(1);
javierjsp 4:84669d69a2d4 62 led1 = 0;
javierjsp 4:84669d69a2d4 63 PWM1.write(0); // Duty cycles are initially zero
javierjsp 4:84669d69a2d4 64 PWM2.write(0);
javierjsp 4:84669d69a2d4 65 PWM1.period(0.02f); // 1 kHz pwm frequency
javierjsp 4:84669d69a2d4 66 PWM2.period(0.02f);
javierjsp 4:84669d69a2d4 67
BaserK 0:908bb50b9f41 68 while(1)
BaserK 0:908bb50b9f41 69 {
javierjsp 4:84669d69a2d4 70 for(float i=0;i<1;i=i+0.01f) // increase speed from 0 to 1 in 5 seconds (50ms*100).
BaserK 0:908bb50b9f41 71 {
BaserK 0:908bb50b9f41 72 motorControl(1,i);
javierjsp 4:84669d69a2d4 73 wait(0.05f);
javierjsp 4:84669d69a2d4 74 }
javierjsp 4:84669d69a2d4 75 for(float i=1;i>0;i=i-0.01f) // decrease speed from 1 to 0 in 5 seconds (50ms*100).
BaserK 0:908bb50b9f41 76 {
BaserK 0:908bb50b9f41 77 motorControl(0,i);
javierjsp 4:84669d69a2d4 78 wait(0.05f);
BaserK 0:908bb50b9f41 79 }
javierjsp 4:84669d69a2d4 80 led1 = 1;
javierjsp 4:84669d69a2d4 81 wait(0.5);
javierjsp 4:84669d69a2d4 82 led1 = 0;
BaserK 0:908bb50b9f41 83 }
BaserK 0:908bb50b9f41 84 }
BaserK 0:908bb50b9f41 85
BaserK 0:908bb50b9f41 86 // This is a motor control function which controls the speed and direction of
BaserK 0:908bb50b9f41 87 // a motor. Motor drivers like L293D can be used.
BaserK 0:908bb50b9f41 88 void motorControl(bool dir, float pwmVal)
BaserK 0:908bb50b9f41 89 {
BaserK 0:908bb50b9f41 90 if(dir==1) // forward direction
BaserK 0:908bb50b9f41 91 {
javierjsp 4:84669d69a2d4 92 PWM2.write(0);
BaserK 0:908bb50b9f41 93 PWM1.write(pwmVal);
BaserK 0:908bb50b9f41 94 }
BaserK 0:908bb50b9f41 95 else if(dir==0) // reverse direction
javierjsp 4:84669d69a2d4 96 {
BaserK 0:908bb50b9f41 97 PWM1.write(0);
javierjsp 4:84669d69a2d4 98 PWM2.write(pwmVal);
BaserK 0:908bb50b9f41 99 }
BaserK 0:908bb50b9f41 100 }