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:
- 2016-11-01
- Revision:
- 9:98c700c7dc30
- Parent:
- 8:67f2711fdeed
File content as of revision 9:98c700c7dc30:
/* 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); /** Set the break mode for control interfaces with two direction pins * * @param mode A boolean value representing the break mode, * true or false. * If true, the dynamically breaked mode state is issued (non-free wheeling) * This is effectively the same as tying both leads together on the DC motor * so it's own counter EMF helps prevent the motor from turning */ void setMode(bool mode); bool getMode(void); float read(); bool mc_mode; /** Shorthand for the write and read functions */ MotCon& operator= (float value); MotCon& operator= (MotCon& rhs); operator float(); float duty_cycle; private: bool _dir2; protected: PwmOut _pwm_pin; DigitalOut _dir1_pin; DigitalOut _dir2_pin; }; #endif