Joseph Bradshaw
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
}
}
}
Diff: MotCon.cpp
- Revision:
- 0:3ba12980833b
- Child:
- 1:382121501487
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MotCon.cpp Mon Aug 31 17:13:55 2015 +0000
@@ -0,0 +1,29 @@
+#include "MotCon.h"
+
+//Constructor
+MotCon::MotCon(PinName pwm, PinName dir) : _pwm(pwm), _dir(dir) {
+ _pwm.period_us(50);
+ _pwm = 0.0;
+ _dir = 0;
+}
+
+// dc is signed duty cycle (+/-1.0)
+void MotCon::mot_control(float dc){
+ if(dc>1.0)
+ dc=1.0;
+ if(dc<-1.0)
+ dc=-1.0;
+
+ if(dc > 0.001){
+ _dir = 0;
+ _pwm = dc;
+ }
+ else if(dc < -0.001){
+ _dir = 1;
+ _pwm = abs(dc);
+ }
+ else{
+ _dir = 0;
+ _pwm = 0.0;
+ }
+}