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:
- 2016-10-31
- Revision:
- 8:67f2711fdeed
- Parent:
- 5:3e07f69d8abd
- Child:
- 9:98c700c7dc30
File content as of revision 8:67f2711fdeed:
#include "mbed.h" #include "MotCon.h" //Constructor MotCon::MotCon(PinName pwm_pin, PinName dir1_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(NC) { _dir2 = false; _pwm_pin.period_us(50); _pwm_pin = 0.0; _dir1_pin = 0; this->duty_cycle=0.0; } MotCon::MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(dir2_pin) { _dir2 = true; _pwm_pin.period_us(50); _pwm_pin = 0.0; _dir1_pin = 0; _dir2_pin = 0; this->duty_cycle=0.0; this->mc_mode = 0; //mode pin determines braking (1 = dynamic braking, 0 = free-wheeling) } // dc is signed duty cycle (+/-1.0) void MotCon::write(float dc){ if(dc>1.0) dc=1.0; if(dc<-1.0) dc=-1.0; this->duty_cycle = dc; if(_dir2){ if(this->duty_cycle > 0.001){ _dir1_pin = 0; _dir2_pin = 1; _pwm_pin = this->duty_cycle; } else if(this->duty_cycle < -0.001){ _dir2_pin = 0; _dir1_pin = 1; _pwm_pin = abs(this->duty_cycle); } else{ if(mc_mode){ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 1.0; } else{ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 0.0; } } } else{ if(this->duty_cycle > 0.001){ _dir1_pin = 0; _pwm_pin = this->duty_cycle; } else if(this->duty_cycle < -0.001){ _dir1_pin = 1; _pwm_pin = abs(this->duty_cycle); } else{ _dir1_pin = 0; _pwm_pin = 0.0; } } } // dc is signed duty cycle (+/-1.0) void MotCon::write(float dc, int invert){ if(dc>1.0) dc=1.0; if(dc<-1.0) dc=-1.0; duty_cycle = dc; if(_dir2){ if(invert==0){ if(this->duty_cycle > 0.001){ _dir1_pin = 0; _dir2_pin = 1; _pwm_pin = this->duty_cycle; } else if(duty_cycle < -0.001){ _dir2_pin = 0; _dir1_pin = 1; _pwm_pin = abs(this->duty_cycle); } else{ if(mc_mode){ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 1.0; this->duty_cycle=1.0; } else{ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 0.0; } } } else{ if(this->duty_cycle > 0.001){ _dir2_pin = 0; _dir1_pin = 1; _pwm_pin = this->duty_cycle; } else if(this->duty_cycle < -0.001){ _dir1_pin = 0; _dir2_pin = 1; _pwm_pin = abs(this->duty_cycle); } else{ if(mc_mode){ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 1.0; this->duty_cycle=1.0; } else{ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 0.0; } } } } else{ if(invert==0){ if(this->duty_cycle > 0.001){ _dir1_pin = 0; _pwm_pin = this->duty_cycle; } else if(this->duty_cycle < -0.001){ _dir1_pin = 1; _pwm_pin = abs(this->duty_cycle); } else{ _dir1_pin = 0; _pwm_pin = 0.0; } } else{ if(this->duty_cycle > 0.001){ _dir1_pin = 1; _pwm_pin = this->duty_cycle; } else if(this->duty_cycle < -0.001){ _dir1_pin = 0; _pwm_pin = abs(this->duty_cycle); } else{ _dir1_pin = 0; _pwm_pin = 0.0; } } } } void MotCon::setMode(bool mode){ mc_mode = mode; } bool MotCon::getMode(void){ return mc_mode; } float MotCon::read(){ return this->duty_cycle; } MotCon& MotCon::operator= (float dc) { write(dc); return *this; } MotCon::operator float() { return read(); }