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.cpp

Revision:
9:98c700c7dc30
Parent:
8:67f2711fdeed
--- a/MotCon.cpp	Mon Oct 31 17:54:50 2016 +0000
+++ b/MotCon.cpp	Tue Nov 01 14:06:30 2016 +0000
@@ -168,14 +168,26 @@
 }
 
 float MotCon::read(){
-    return this->duty_cycle;
+    float ret = this->duty_cycle;
+
+    return ret;
+}
+
+MotCon& MotCon::operator= (float value){
+    write(value);
+    
+    return *this;
 }
 
-MotCon& MotCon::operator= (float dc) { 
-    write(dc);
-    return *this;
+MotCon& MotCon::operator= (MotCon& rhs) {
+  // Underlying call is thread safe
+  write(rhs.read());
+  
+  return *this;
 }
- 
-MotCon::operator float() {
-    return read();
-}
\ No newline at end of file
+  
+MotCon::operator float(){
+// Underlying call is thread safe
+   return this->read(); 
+}
+ 
\ No newline at end of file