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.cpp
- Committer:
- jebradshaw
- Date:
- 2015-08-31
- Revision:
- 0:3ba12980833b
- Child:
- 1:382121501487
File content as of revision 0:3ba12980833b:
#include "MotCon.h" //Constructor MotCon::MotCon(PinName pwm, PinName dir) : _pwm(pwm), _dir(dir) { _pwm.period_us(50); _pwm = 0.0; _dir = 0; } // dc is signed duty cycle (+/-1.0) void MotCon::mot_control(float dc){ if(dc>1.0) dc=1.0; if(dc<-1.0) dc=-1.0; if(dc > 0.001){ _dir = 0; _pwm = dc; } else if(dc < -0.001){ _dir = 1; _pwm = abs(dc); } else{ _dir = 0; _pwm = 0.0; } }