Joseph Bradshaw / MotCon

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.h

Revision:
5:3e07f69d8abd
Parent:
2:10187d108666
Child:
7:4d79b914ffdf
Child:
8:67f2711fdeed
--- a/MotCon.h	Mon May 23 19:06:31 2016 +0000
+++ b/MotCon.h	Tue Oct 18 11:32:36 2016 +0000
@@ -1,4 +1,25 @@
-
+/* mbed MotCon Library, for the various DC motor control IC's using PWM and one
+ * or two direction pins.
+ * Copyright (c) 2016, Joseph Bradshaw
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
 #include "mbed.h"
 
 #ifndef MBED_MOTCON_H
@@ -6,12 +27,46 @@
 
 class MotCon{
 public:
-      MotCon(PinName _pwm, PinName _dir);
-      void mot_control(float dc);
-      void mot_control(float dc, int invert);
+    /** Create a motor control port object connected to the specified pins
+     *
+     * @param pwm_pin PwmOut pin for the enable or speed control
+     * @param dir1_pin DigitalOut pin to control the motor direction
+     */
+    MotCon(PinName pwm_pin, PinName dir1_pin);
+    
+    /** Create a motor control port object connected to the specified pins.
+     *  The two direction pins are typically complementary and provide
+     *  the capability of dynamic braking, free-wheeling, forward and reverse.
+     *
+     * @param pwm_pin PwmOut pin for the enable or speed control
+     * @param dir1_pin DigitalOut pin to control the motor direction
+     * @param dir2_pin DigitalOut pin to control the motor direction
+     */    
+    MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin);
+    
+    /** This function will set the direction and pwm percent scaled 
+     *  from 0.0 - 1.0 and control the direction pin or pins
+     *  If two direction pins are used, the user can control the breaking
+     *  mode by using the mutator functions for get_mode() and set_mode()
+     *  If only one direction pin is used, dynamic breaking and syncronous 
+     *  rectification are assumed.  See the specific motor driver part datasheet
+     *  for additional details.
+     *
+     * @param dc is signed float duty cycle (+/-1.0)
+     */
+    void mot_control(float dc);
+    void mot_control(float dc, int invert);
+    
+    void setMode(int mode);
+    bool getMode(void);
+    bool mc_mode;
 private:
-    PwmOut _pwm;
-    DigitalOut _dir;
+    bool _dir2;
+    
+protected:
+    PwmOut _pwm_pin;
+    DigitalOut _dir1_pin;
+    DigitalOut _dir2_pin;
 };
 
 #endif