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.cpp@8:67f2711fdeed, 2016-10-31 (annotated)
- Committer:
- jebradshaw
- Date:
- Mon Oct 31 17:54:50 2016 +0000
- Revision:
- 8:67f2711fdeed
- Parent:
- 5:3e07f69d8abd
- Child:
- 9:98c700c7dc30
added operator functions for simplified parameter passing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 5:3e07f69d8abd | 1 | #include "mbed.h" |
jebradshaw | 0:3ba12980833b | 2 | #include "MotCon.h" |
jebradshaw | 0:3ba12980833b | 3 | |
jebradshaw | 0:3ba12980833b | 4 | //Constructor |
jebradshaw | 5:3e07f69d8abd | 5 | MotCon::MotCon(PinName pwm_pin, PinName dir1_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(NC) { |
jebradshaw | 5:3e07f69d8abd | 6 | _dir2 = false; |
jebradshaw | 5:3e07f69d8abd | 7 | _pwm_pin.period_us(50); |
jebradshaw | 5:3e07f69d8abd | 8 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 9 | _dir1_pin = 0; |
jebradshaw | 8:67f2711fdeed | 10 | this->duty_cycle=0.0; |
jebradshaw | 5:3e07f69d8abd | 11 | } |
jebradshaw | 5:3e07f69d8abd | 12 | MotCon::MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(dir2_pin) { |
jebradshaw | 5:3e07f69d8abd | 13 | _dir2 = true; |
jebradshaw | 5:3e07f69d8abd | 14 | _pwm_pin.period_us(50); |
jebradshaw | 5:3e07f69d8abd | 15 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 16 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 17 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 18 | |
jebradshaw | 8:67f2711fdeed | 19 | this->duty_cycle=0.0; |
jebradshaw | 8:67f2711fdeed | 20 | this->mc_mode = 0; //mode pin determines braking (1 = dynamic braking, 0 = free-wheeling) |
jebradshaw | 5:3e07f69d8abd | 21 | } |
jebradshaw | 5:3e07f69d8abd | 22 | // dc is signed duty cycle (+/-1.0) |
jebradshaw | 8:67f2711fdeed | 23 | void MotCon::write(float dc){ |
jebradshaw | 5:3e07f69d8abd | 24 | if(dc>1.0) |
jebradshaw | 5:3e07f69d8abd | 25 | dc=1.0; |
jebradshaw | 5:3e07f69d8abd | 26 | if(dc<-1.0) |
jebradshaw | 5:3e07f69d8abd | 27 | dc=-1.0; |
jebradshaw | 5:3e07f69d8abd | 28 | |
jebradshaw | 8:67f2711fdeed | 29 | this->duty_cycle = dc; |
jebradshaw | 5:3e07f69d8abd | 30 | if(_dir2){ |
jebradshaw | 8:67f2711fdeed | 31 | if(this->duty_cycle > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 32 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 33 | _dir2_pin = 1; |
jebradshaw | 8:67f2711fdeed | 34 | _pwm_pin = this->duty_cycle; |
jebradshaw | 5:3e07f69d8abd | 35 | } |
jebradshaw | 8:67f2711fdeed | 36 | else if(this->duty_cycle < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 37 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 38 | _dir1_pin = 1; |
jebradshaw | 8:67f2711fdeed | 39 | _pwm_pin = abs(this->duty_cycle); |
jebradshaw | 5:3e07f69d8abd | 40 | } |
jebradshaw | 5:3e07f69d8abd | 41 | else{ |
jebradshaw | 5:3e07f69d8abd | 42 | if(mc_mode){ |
jebradshaw | 5:3e07f69d8abd | 43 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 44 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 45 | _pwm_pin = 1.0; |
jebradshaw | 5:3e07f69d8abd | 46 | } |
jebradshaw | 5:3e07f69d8abd | 47 | else{ |
jebradshaw | 5:3e07f69d8abd | 48 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 49 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 50 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 51 | } |
jebradshaw | 5:3e07f69d8abd | 52 | } |
jebradshaw | 5:3e07f69d8abd | 53 | } |
jebradshaw | 5:3e07f69d8abd | 54 | else{ |
jebradshaw | 8:67f2711fdeed | 55 | if(this->duty_cycle > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 56 | _dir1_pin = 0; |
jebradshaw | 8:67f2711fdeed | 57 | _pwm_pin = this->duty_cycle; |
jebradshaw | 5:3e07f69d8abd | 58 | } |
jebradshaw | 8:67f2711fdeed | 59 | else if(this->duty_cycle < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 60 | _dir1_pin = 1; |
jebradshaw | 8:67f2711fdeed | 61 | _pwm_pin = abs(this->duty_cycle); |
jebradshaw | 5:3e07f69d8abd | 62 | } |
jebradshaw | 5:3e07f69d8abd | 63 | else{ |
jebradshaw | 5:3e07f69d8abd | 64 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 65 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 66 | } |
jebradshaw | 5:3e07f69d8abd | 67 | } |
jebradshaw | 0:3ba12980833b | 68 | } |
jebradshaw | 0:3ba12980833b | 69 | |
jebradshaw | 0:3ba12980833b | 70 | // dc is signed duty cycle (+/-1.0) |
jebradshaw | 8:67f2711fdeed | 71 | void MotCon::write(float dc, int invert){ |
jebradshaw | 0:3ba12980833b | 72 | if(dc>1.0) |
jebradshaw | 0:3ba12980833b | 73 | dc=1.0; |
jebradshaw | 0:3ba12980833b | 74 | if(dc<-1.0) |
jebradshaw | 0:3ba12980833b | 75 | dc=-1.0; |
jebradshaw | 5:3e07f69d8abd | 76 | |
jebradshaw | 8:67f2711fdeed | 77 | duty_cycle = dc; |
jebradshaw | 5:3e07f69d8abd | 78 | if(_dir2){ |
jebradshaw | 5:3e07f69d8abd | 79 | if(invert==0){ |
jebradshaw | 8:67f2711fdeed | 80 | if(this->duty_cycle > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 81 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 82 | _dir2_pin = 1; |
jebradshaw | 8:67f2711fdeed | 83 | _pwm_pin = this->duty_cycle; |
jebradshaw | 5:3e07f69d8abd | 84 | } |
jebradshaw | 8:67f2711fdeed | 85 | else if(duty_cycle < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 86 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 87 | _dir1_pin = 1; |
jebradshaw | 8:67f2711fdeed | 88 | _pwm_pin = abs(this->duty_cycle); |
jebradshaw | 5:3e07f69d8abd | 89 | } |
jebradshaw | 5:3e07f69d8abd | 90 | else{ |
jebradshaw | 5:3e07f69d8abd | 91 | if(mc_mode){ |
jebradshaw | 5:3e07f69d8abd | 92 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 93 | _dir2_pin = 0; |
jebradshaw | 8:67f2711fdeed | 94 | _pwm_pin = 1.0; |
jebradshaw | 8:67f2711fdeed | 95 | this->duty_cycle=1.0; |
jebradshaw | 5:3e07f69d8abd | 96 | } |
jebradshaw | 5:3e07f69d8abd | 97 | else{ |
jebradshaw | 5:3e07f69d8abd | 98 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 99 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 100 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 101 | } |
jebradshaw | 5:3e07f69d8abd | 102 | } |
jebradshaw | 5:3e07f69d8abd | 103 | } |
jebradshaw | 5:3e07f69d8abd | 104 | else{ |
jebradshaw | 8:67f2711fdeed | 105 | if(this->duty_cycle > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 106 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 107 | _dir1_pin = 1; |
jebradshaw | 8:67f2711fdeed | 108 | _pwm_pin = this->duty_cycle; |
jebradshaw | 5:3e07f69d8abd | 109 | } |
jebradshaw | 8:67f2711fdeed | 110 | else if(this->duty_cycle < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 111 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 112 | _dir2_pin = 1; |
jebradshaw | 8:67f2711fdeed | 113 | _pwm_pin = abs(this->duty_cycle); |
jebradshaw | 5:3e07f69d8abd | 114 | } |
jebradshaw | 5:3e07f69d8abd | 115 | else{ |
jebradshaw | 5:3e07f69d8abd | 116 | if(mc_mode){ |
jebradshaw | 5:3e07f69d8abd | 117 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 118 | _dir2_pin = 0; |
jebradshaw | 8:67f2711fdeed | 119 | _pwm_pin = 1.0; |
jebradshaw | 8:67f2711fdeed | 120 | this->duty_cycle=1.0; |
jebradshaw | 5:3e07f69d8abd | 121 | } |
jebradshaw | 5:3e07f69d8abd | 122 | else{ |
jebradshaw | 5:3e07f69d8abd | 123 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 124 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 125 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 126 | } |
jebradshaw | 5:3e07f69d8abd | 127 | } |
jebradshaw | 5:3e07f69d8abd | 128 | } |
jebradshaw | 0:3ba12980833b | 129 | } |
jebradshaw | 5:3e07f69d8abd | 130 | else{ |
jebradshaw | 5:3e07f69d8abd | 131 | if(invert==0){ |
jebradshaw | 8:67f2711fdeed | 132 | if(this->duty_cycle > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 133 | _dir1_pin = 0; |
jebradshaw | 8:67f2711fdeed | 134 | _pwm_pin = this->duty_cycle; |
jebradshaw | 5:3e07f69d8abd | 135 | } |
jebradshaw | 8:67f2711fdeed | 136 | else if(this->duty_cycle < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 137 | _dir1_pin = 1; |
jebradshaw | 8:67f2711fdeed | 138 | _pwm_pin = abs(this->duty_cycle); |
jebradshaw | 5:3e07f69d8abd | 139 | } |
jebradshaw | 5:3e07f69d8abd | 140 | else{ |
jebradshaw | 5:3e07f69d8abd | 141 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 142 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 143 | } |
jebradshaw | 5:3e07f69d8abd | 144 | } |
jebradshaw | 5:3e07f69d8abd | 145 | else{ |
jebradshaw | 8:67f2711fdeed | 146 | if(this->duty_cycle > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 147 | _dir1_pin = 1; |
jebradshaw | 8:67f2711fdeed | 148 | _pwm_pin = this->duty_cycle; |
jebradshaw | 5:3e07f69d8abd | 149 | } |
jebradshaw | 8:67f2711fdeed | 150 | else if(this->duty_cycle < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 151 | _dir1_pin = 0; |
jebradshaw | 8:67f2711fdeed | 152 | _pwm_pin = abs(this->duty_cycle); |
jebradshaw | 5:3e07f69d8abd | 153 | } |
jebradshaw | 5:3e07f69d8abd | 154 | else{ |
jebradshaw | 5:3e07f69d8abd | 155 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 156 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 157 | } |
jebradshaw | 5:3e07f69d8abd | 158 | } |
jebradshaw | 5:3e07f69d8abd | 159 | } |
jebradshaw | 0:3ba12980833b | 160 | } |
jebradshaw | 2:10187d108666 | 161 | |
jebradshaw | 5:3e07f69d8abd | 162 | void MotCon::setMode(bool mode){ |
jebradshaw | 5:3e07f69d8abd | 163 | mc_mode = mode; |
jebradshaw | 2:10187d108666 | 164 | } |
jebradshaw | 5:3e07f69d8abd | 165 | |
jebradshaw | 5:3e07f69d8abd | 166 | bool MotCon::getMode(void){ |
jebradshaw | 5:3e07f69d8abd | 167 | return mc_mode; |
jebradshaw | 8:67f2711fdeed | 168 | } |
jebradshaw | 8:67f2711fdeed | 169 | |
jebradshaw | 8:67f2711fdeed | 170 | float MotCon::read(){ |
jebradshaw | 8:67f2711fdeed | 171 | return this->duty_cycle; |
jebradshaw | 8:67f2711fdeed | 172 | } |
jebradshaw | 8:67f2711fdeed | 173 | |
jebradshaw | 8:67f2711fdeed | 174 | MotCon& MotCon::operator= (float dc) { |
jebradshaw | 8:67f2711fdeed | 175 | write(dc); |
jebradshaw | 8:67f2711fdeed | 176 | return *this; |
jebradshaw | 8:67f2711fdeed | 177 | } |
jebradshaw | 8:67f2711fdeed | 178 | |
jebradshaw | 8:67f2711fdeed | 179 | MotCon::operator float() { |
jebradshaw | 8:67f2711fdeed | 180 | return read(); |
jebradshaw | 5:3e07f69d8abd | 181 | } |