Simple DC motor control commands for driving DC motor conroller with PWM and up to 2 direction signals (complementary). Takes float value from -1.0 to 1.0.
Dependents: mbed_ES410_simpleSpeedMeasurement mbed_ES20X_V21_Tester
This MotCon motor driver class can be used with a variety of motor driver integrated circuits for driving PM DC motors. The MotCon class is overloaded to accommodate either one or two direction pins and a PwmOut pin for speed control/motor enable .
include the mbed library with this snippet
#include "MotCon.h" //uses the MotCon.h library for controlling the motor ports //PC serial connection Serial pc(USBTX, USBRX); //tx, rx via USB connection DigitalOut led(LED1); MotCon m1(p25, p27); //uses p25 for PWM and p27 for direction MotCon m2(p26, p29, p30); //uses p26 for pwm and p29 and 30 for direction (complimentary) //------------ Main ------------------------------ int main() { pc.baud(921600);//fast baud rate for USB PC connection while(1) { //iterate through 2*pi cycles in .01 increments for(float cycle=0;cycle<3.14159*2.0;cycle+=.01){ float m1_dc = .85*sin(cycle); m1.mot_control(m1_dc); float m2_dc = .85*cos(cycle); m2.mot_control(m2_dc); pc.printf("cycle=%.3f m1_dc = %.2f m1_dc = %.2f\r\n", cycle, m1_dc, m2_dc); wait(.01); //determines period led = !led; //toggle LED1 to indicate activity } } }
MotCon.h@4:23cd902e1774, 2016-05-19 (annotated)
- Committer:
- jebradshaw
- Date:
- Thu May 19 13:17:10 2016 +0000
- Revision:
- 4:23cd902e1774
- Parent:
- 3:69e79f1db999
updated API documentation
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 0:3ba12980833b | 1 | |
jebradshaw | 0:3ba12980833b | 2 | #include "mbed.h" |
jebradshaw | 0:3ba12980833b | 3 | |
jebradshaw | 0:3ba12980833b | 4 | #ifndef MBED_MOTCON_H |
jebradshaw | 0:3ba12980833b | 5 | #define MBED_MOTCON_H |
jebradshaw | 0:3ba12980833b | 6 | |
jebradshaw | 4:23cd902e1774 | 7 | /** MotCon class. |
jebradshaw | 4:23cd902e1774 | 8 | * Used for generating motor control pulse width modulation control |
jebradshaw | 4:23cd902e1774 | 9 | * and direction signal outputs for motor driver boards |
jebradshaw | 4:23cd902e1774 | 10 | */ |
jebradshaw | 0:3ba12980833b | 11 | class MotCon{ |
jebradshaw | 0:3ba12980833b | 12 | public: |
jebradshaw | 4:23cd902e1774 | 13 | /** Create MotCon instance */ |
jebradshaw | 0:3ba12980833b | 14 | MotCon(PinName _pwm, PinName _dir); |
jebradshaw | 4:23cd902e1774 | 15 | |
jebradshaw | 4:23cd902e1774 | 16 | /** Drive motor control signals |
jebradshaw | 4:23cd902e1774 | 17 | * |
jebradshaw | 4:23cd902e1774 | 18 | * @param dc value from (+/-1.0) |
jebradshaw | 4:23cd902e1774 | 19 | */ |
jebradshaw | 0:3ba12980833b | 20 | void mot_control(float dc); |
jebradshaw | 4:23cd902e1774 | 21 | /** Overloaded function for Drive motor control signals |
jebradshaw | 4:23cd902e1774 | 22 | * |
jebradshaw | 4:23cd902e1774 | 23 | * @param dc value from (+/-1.0) |
jebradshaw | 4:23cd902e1774 | 24 | * @param invert any non-zero value inverts the motor direction signal output logic |
jebradshaw | 4:23cd902e1774 | 25 | */ |
jebradshaw | 3:69e79f1db999 | 26 | void mot_control(float dc, int invert); |
jebradshaw | 0:3ba12980833b | 27 | private: |
jebradshaw | 0:3ba12980833b | 28 | PwmOut _pwm; |
jebradshaw | 0:3ba12980833b | 29 | DigitalOut _dir; |
jebradshaw | 0:3ba12980833b | 30 | }; |
jebradshaw | 0:3ba12980833b | 31 | |
jebradshaw | 0:3ba12980833b | 32 | #endif |