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:
- 10:8e93b06e7ff2
- Parent:
- 7:4d79b914ffdf
--- a/MotCon.cpp Wed Dec 14 12:49:53 2016 +0000 +++ b/MotCon.cpp Fri Mar 16 15:31:03 2018 +0000 @@ -162,4 +162,28 @@ int MotCon::getMode(void){ return mc_mode; +} + +float MotCon::read(void){ + float ret = this->duty_cycle; + + return ret; +} + +MotCon& MotCon::operator= (float value){ + mot_control(value); + + return *this; +} + +MotCon& MotCon::operator= (MotCon& rhs) { + // Underlying call is thread safe + mot_control(rhs.read()); + + return *this; +} + +MotCon::operator float(){ +// Underlying call is thread safe + return this->read(); } \ No newline at end of file