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
        }
    }
}

MotCon.h

Committer:
jebradshaw
Date:
2016-05-19
Revision:
4:23cd902e1774
Parent:
3:69e79f1db999

File content as of revision 4:23cd902e1774:


#include "mbed.h"

#ifndef MBED_MOTCON_H
#define MBED_MOTCON_H

/** MotCon class.
 *  Used for generating motor control pulse width modulation control
 *   and direction signal outputs for motor driver boards
 */
class MotCon{
public:
    /** Create MotCon instance */
      MotCon(PinName _pwm, PinName _dir);

     /** Drive motor control signals
     *
     * @param dc value from (+/-1.0)
     */
      void mot_control(float dc);
     /** Overloaded function for Drive motor control signals
     *
     * @param dc value from (+/-1.0)
     * @param invert any non-zero value inverts the motor direction signal output logic
     */
      void mot_control(float dc, int invert);
private:
    PwmOut _pwm;
    DigitalOut _dir;
};

#endif