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:
2016-10-31
Revision:
8:67f2711fdeed
Parent:
5:3e07f69d8abd
Child:
9:98c700c7dc30

File content as of revision 8:67f2711fdeed:

/* mbed MotCon Library, for the various DC motor control IC's using PWM and one
 * or two direction pins.
 * Copyright (c) 2016, Joseph Bradshaw
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
#include "mbed.h"

#ifndef MBED_MOTCON_H
#define MBED_MOTCON_H

class MotCon{
public:
    /** Create a motor control port object connected to the specified pins
     *
     * @param pwm_pin PwmOut pin for the enable or speed control
     * @param dir1_pin DigitalOut pin to control the motor direction
     */
    MotCon(PinName pwm_pin, PinName dir1_pin);
    
    /** Create a motor control port object connected to the specified pins.
     *  The two direction pins are typically complementary and provide
     *  the capability of dynamic braking, free-wheeling, forward and reverse.
     *
     * @param pwm_pin PwmOut pin for the enable or speed control
     * @param dir1_pin DigitalOut pin to control the motor direction
     * @param dir2_pin DigitalOut pin to control the motor direction
     */    
    MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin);
    
    /** This function will set the direction and pwm percent scaled 
     *  from 0.0 - 1.0 and control the direction pin or pins
     *  If two direction pins are used, the user can control the breaking
     *  mode by using the mutator functions for get_mode() and set_mode()
     *  If only one direction pin is used, dynamic breaking and syncronous 
     *  rectification are assumed.  See the specific motor driver part datasheet
     *  for additional details.
     *
     * @param dc is signed float duty cycle (+/-1.0)
     */
    void write(float dc);
    void write(float dc, int invert);
    
    void setMode(bool mode);
    bool getMode(void);
    float read();
    bool mc_mode;    
    
        /**  Shorthand for the write and read functions */
    MotCon& operator= (float duty_cycle);
    operator float();    
private:
    bool _dir2;
    float duty_cycle;
    
protected:
    PwmOut _pwm_pin;
    DigitalOut _dir1_pin;
    DigitalOut _dir2_pin;
};

#endif