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:
- 8:67f2711fdeed
- Parent:
- 5:3e07f69d8abd
- Child:
- 9:98c700c7dc30
--- a/MotCon.h Tue Oct 18 11:32:36 2016 +0000 +++ b/MotCon.h Mon Oct 31 17:54:50 2016 +0000 @@ -54,14 +54,20 @@ * * @param dc is signed float duty cycle (+/-1.0) */ - void mot_control(float dc); - void mot_control(float dc, int invert); + void write(float dc); + void write(float dc, int invert); - void setMode(int mode); + void setMode(bool mode); bool getMode(void); - bool mc_mode; + float read(); + bool mc_mode; + + /** Shorthand for the write and read functions */ + MotCon& operator= (float duty_cycle); + operator float(); private: bool _dir2; + float duty_cycle; protected: PwmOut _pwm_pin;