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:
- 5:3e07f69d8abd
- Parent:
- 2:10187d108666
- Child:
- 6:11fd2e721790
- Child:
- 8:67f2711fdeed
--- a/MotCon.cpp Mon May 23 19:06:31 2016 +0000
+++ b/MotCon.cpp Tue Oct 18 11:32:36 2016 +0000
@@ -1,66 +1,162 @@
+#include "mbed.h"
#include "MotCon.h"
//Constructor
-MotCon::MotCon(PinName pwm, PinName dir) : _pwm(pwm), _dir(dir) {
- _pwm.period_us(50);
- _pwm = 0.0;
- _dir = 0;
+MotCon::MotCon(PinName pwm_pin, PinName dir1_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(NC) {
+ _dir2 = false;
+ _pwm_pin.period_us(50);
+ _pwm_pin = 0.0;
+ _dir1_pin = 0;
+}
+MotCon::MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(dir2_pin) {
+ _dir2 = true;
+ _pwm_pin.period_us(50);
+ _pwm_pin = 0.0;
+ _dir1_pin = 0;
+ _dir2_pin = 0;
+
+ mc_mode = 0; //mode pin determines braking (1 = dynamic braking, 0 = free-wheeling)
+}
+// 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(_dir2){
+ if(dc > 0.001){
+ _dir1_pin = 0;
+ _dir2_pin = 1;
+ _pwm_pin = dc;
+ }
+ else if(dc < -0.001){
+ _dir2_pin = 0;
+ _dir1_pin = 1;
+ _pwm_pin = abs(dc);
+ }
+ else{
+ if(mc_mode){
+ _dir1_pin = 0;
+ _dir2_pin = 0;
+ _pwm_pin = 1.0;
+ }
+ else{
+ _dir1_pin = 0;
+ _dir2_pin = 0;
+ _pwm_pin = 0.0;
+ }
+ }
+ }
+ else{
+ if(dc > 0.001){
+ _dir1_pin = 0;
+ _pwm_pin = dc;
+ }
+ else if(dc < -0.001){
+ _dir1_pin = 1;
+ _pwm_pin = abs(dc);
+ }
+ else{
+ _dir1_pin = 0;
+ _pwm_pin = 0.0;
+ }
+ }
}
// dc is signed duty cycle (+/-1.0)
-void MotCon::mot_control(float dc){
+void MotCon::mot_control(float dc, int invert){
if(dc>1.0)
dc=1.0;
if(dc<-1.0)
dc=-1.0;
-
- if(dc > 0.001){
- _dir = 0;
- _pwm = dc;
+
+ if(_dir2){
+ if(invert==0){
+ if(dc > 0.001){
+ _dir1_pin = 0;
+ _dir2_pin = 1;
+ _pwm_pin = dc;
+ }
+ else if(dc < -0.001){
+ _dir2_pin = 0;
+ _dir1_pin = 1;
+ _pwm_pin = abs(dc);
+ }
+ else{
+ if(mc_mode){
+ _dir1_pin = 0;
+ _dir2_pin = 0;
+ _pwm_pin = 1.0;
+ }
+ else{
+ _dir1_pin = 0;
+ _dir2_pin = 0;
+ _pwm_pin = 0.0;
+ }
+ }
+ }
+ else{
+ if(dc > 0.001){
+ _dir2_pin = 0;
+ _dir1_pin = 1;
+ _pwm_pin = dc;
+ }
+ else if(dc < -0.001){
+ _dir1_pin = 0;
+ _dir2_pin = 1;
+ _pwm_pin = abs(dc);
+ }
+ else{
+ if(mc_mode){
+ _dir1_pin = 0;
+ _dir2_pin = 0;
+ _pwm_pin = 1.0;
+ }
+ else{
+ _dir1_pin = 0;
+ _dir2_pin = 0;
+ _pwm_pin = 0.0;
+ }
+ }
+ }
}
- else if(dc < -0.001){
- _dir = 1;
- _pwm = abs(dc);
- }
- else{
- _dir = 0;
- _pwm = 0.0;
- }
+ else{
+ if(invert==0){
+ if(dc > 0.001){
+ _dir1_pin = 0;
+ _pwm_pin = dc;
+ }
+ else if(dc < -0.001){
+ _dir1_pin = 1;
+ _pwm_pin = abs(dc);
+ }
+ else{
+ _dir1_pin = 0;
+ _pwm_pin = 0.0;
+ }
+ }
+ else{
+ if(dc > 0.001){
+ _dir1_pin = 1;
+ _pwm_pin = dc;
+ }
+ else if(dc < -0.001){
+ _dir1_pin = 0;
+ _pwm_pin = abs(dc);
+ }
+ else{
+ _dir1_pin = 0;
+ _pwm_pin = 0.0;
+ }
+ }
+ }
}
-// dc is signed duty cycle (+/-1.0)
-void MotCon::mot_control(float dc, int invert){
- if(dc>1.0)
- dc=1.0;
- if(dc<-1.0)
- dc=-1.0;
-
- if(invert==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;
- }
- }
- else{
- if(dc > 0.001){
- _dir = 1;
- _pwm = dc;
- }
- else if(dc < -0.001){
- _dir = 0;
- _pwm = abs(dc);
- }
- else{
- _dir = 0;
- _pwm = 0.0;
- }
- }
+void MotCon::setMode(bool mode){
+ mc_mode = mode;
}
+
+bool MotCon::getMode(void){
+ return mc_mode;
+}
\ No newline at end of file