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@10:8e93b06e7ff2, 2018-03-16 (annotated)
- Committer:
- jebradshaw
- Date:
- Fri Mar 16 15:31:03 2018 +0000
- Revision:
- 10:8e93b06e7ff2
- Parent:
- 7:4d79b914ffdf
Added shorthand read and write functions. May need to check implementation of overloaded function with invert used
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jebradshaw | 7:4d79b914ffdf | 1 | // J. Bradshaw - Motor Control Libary for support of most H-Bridge drivers with |
jebradshaw | 7:4d79b914ffdf | 2 | // a single PWM (enable active high) pin and one or two direction pins |
jebradshaw | 7:4d79b914ffdf | 3 | // to support forward/reverse (complimentary) |
jebradshaw | 5:3e07f69d8abd | 4 | #include "mbed.h" |
jebradshaw | 0:3ba12980833b | 5 | #include "MotCon.h" |
jebradshaw | 0:3ba12980833b | 6 | |
jebradshaw | 0:3ba12980833b | 7 | //Constructor |
jebradshaw | 5:3e07f69d8abd | 8 | MotCon::MotCon(PinName pwm_pin, PinName dir1_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(NC) { |
jebradshaw | 5:3e07f69d8abd | 9 | _dir2 = false; |
jebradshaw | 5:3e07f69d8abd | 10 | _pwm_pin.period_us(50); |
jebradshaw | 5:3e07f69d8abd | 11 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 12 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 13 | } |
jebradshaw | 5:3e07f69d8abd | 14 | MotCon::MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(dir2_pin) { |
jebradshaw | 5:3e07f69d8abd | 15 | _dir2 = true; |
jebradshaw | 5:3e07f69d8abd | 16 | _pwm_pin.period_us(50); |
jebradshaw | 5:3e07f69d8abd | 17 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 18 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 19 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 20 | |
jebradshaw | 5:3e07f69d8abd | 21 | mc_mode = 0; //mode pin determines braking (1 = dynamic braking, 0 = free-wheeling) |
jebradshaw | 5:3e07f69d8abd | 22 | } |
jebradshaw | 5:3e07f69d8abd | 23 | // dc is signed duty cycle (+/-1.0) |
jebradshaw | 5:3e07f69d8abd | 24 | void MotCon::mot_control(float dc){ |
jebradshaw | 5:3e07f69d8abd | 25 | if(dc>1.0) |
jebradshaw | 5:3e07f69d8abd | 26 | dc=1.0; |
jebradshaw | 5:3e07f69d8abd | 27 | if(dc<-1.0) |
jebradshaw | 5:3e07f69d8abd | 28 | dc=-1.0; |
jebradshaw | 5:3e07f69d8abd | 29 | |
jebradshaw | 5:3e07f69d8abd | 30 | if(_dir2){ |
jebradshaw | 5:3e07f69d8abd | 31 | if(dc > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 32 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 33 | _dir2_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 34 | _pwm_pin = dc; |
jebradshaw | 5:3e07f69d8abd | 35 | } |
jebradshaw | 5:3e07f69d8abd | 36 | else if(dc < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 37 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 38 | _dir1_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 39 | _pwm_pin = abs(dc); |
jebradshaw | 5:3e07f69d8abd | 40 | } |
jebradshaw | 5:3e07f69d8abd | 41 | else{ |
jebradshaw | 5:3e07f69d8abd | 42 | if(mc_mode){ |
jebradshaw | 5:3e07f69d8abd | 43 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 44 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 45 | _pwm_pin = 1.0; |
jebradshaw | 5:3e07f69d8abd | 46 | } |
jebradshaw | 5:3e07f69d8abd | 47 | else{ |
jebradshaw | 5:3e07f69d8abd | 48 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 49 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 50 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 51 | } |
jebradshaw | 5:3e07f69d8abd | 52 | } |
jebradshaw | 5:3e07f69d8abd | 53 | } |
jebradshaw | 5:3e07f69d8abd | 54 | else{ |
jebradshaw | 5:3e07f69d8abd | 55 | if(dc > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 56 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 57 | _pwm_pin = dc; |
jebradshaw | 5:3e07f69d8abd | 58 | } |
jebradshaw | 5:3e07f69d8abd | 59 | else if(dc < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 60 | _dir1_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 61 | _pwm_pin = abs(dc); |
jebradshaw | 5:3e07f69d8abd | 62 | } |
jebradshaw | 5:3e07f69d8abd | 63 | else{ |
jebradshaw | 5:3e07f69d8abd | 64 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 65 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 66 | } |
jebradshaw | 5:3e07f69d8abd | 67 | } |
jebradshaw | 0:3ba12980833b | 68 | } |
jebradshaw | 0:3ba12980833b | 69 | |
jebradshaw | 0:3ba12980833b | 70 | // dc is signed duty cycle (+/-1.0) |
jebradshaw | 5:3e07f69d8abd | 71 | void MotCon::mot_control(float dc, int invert){ |
jebradshaw | 0:3ba12980833b | 72 | if(dc>1.0) |
jebradshaw | 0:3ba12980833b | 73 | dc=1.0; |
jebradshaw | 0:3ba12980833b | 74 | if(dc<-1.0) |
jebradshaw | 0:3ba12980833b | 75 | dc=-1.0; |
jebradshaw | 5:3e07f69d8abd | 76 | |
jebradshaw | 5:3e07f69d8abd | 77 | if(_dir2){ |
jebradshaw | 5:3e07f69d8abd | 78 | if(invert==0){ |
jebradshaw | 5:3e07f69d8abd | 79 | if(dc > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 80 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 81 | _dir2_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 82 | _pwm_pin = dc; |
jebradshaw | 5:3e07f69d8abd | 83 | } |
jebradshaw | 5:3e07f69d8abd | 84 | else if(dc < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 85 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 86 | _dir1_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 87 | _pwm_pin = abs(dc); |
jebradshaw | 5:3e07f69d8abd | 88 | } |
jebradshaw | 5:3e07f69d8abd | 89 | else{ |
jebradshaw | 5:3e07f69d8abd | 90 | if(mc_mode){ |
jebradshaw | 5:3e07f69d8abd | 91 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 92 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 93 | _pwm_pin = 1.0; |
jebradshaw | 5:3e07f69d8abd | 94 | } |
jebradshaw | 5:3e07f69d8abd | 95 | else{ |
jebradshaw | 5:3e07f69d8abd | 96 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 97 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 98 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 99 | } |
jebradshaw | 5:3e07f69d8abd | 100 | } |
jebradshaw | 5:3e07f69d8abd | 101 | } |
jebradshaw | 5:3e07f69d8abd | 102 | else{ |
jebradshaw | 5:3e07f69d8abd | 103 | if(dc > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 104 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 105 | _dir1_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 106 | _pwm_pin = dc; |
jebradshaw | 5:3e07f69d8abd | 107 | } |
jebradshaw | 5:3e07f69d8abd | 108 | else if(dc < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 109 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 110 | _dir2_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 111 | _pwm_pin = abs(dc); |
jebradshaw | 5:3e07f69d8abd | 112 | } |
jebradshaw | 5:3e07f69d8abd | 113 | else{ |
jebradshaw | 5:3e07f69d8abd | 114 | if(mc_mode){ |
jebradshaw | 5:3e07f69d8abd | 115 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 116 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 117 | _pwm_pin = 1.0; |
jebradshaw | 5:3e07f69d8abd | 118 | } |
jebradshaw | 5:3e07f69d8abd | 119 | else{ |
jebradshaw | 5:3e07f69d8abd | 120 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 121 | _dir2_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 122 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 123 | } |
jebradshaw | 5:3e07f69d8abd | 124 | } |
jebradshaw | 5:3e07f69d8abd | 125 | } |
jebradshaw | 0:3ba12980833b | 126 | } |
jebradshaw | 5:3e07f69d8abd | 127 | else{ |
jebradshaw | 5:3e07f69d8abd | 128 | if(invert==0){ |
jebradshaw | 5:3e07f69d8abd | 129 | if(dc > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 130 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 131 | _pwm_pin = dc; |
jebradshaw | 5:3e07f69d8abd | 132 | } |
jebradshaw | 5:3e07f69d8abd | 133 | else if(dc < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 134 | _dir1_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 135 | _pwm_pin = abs(dc); |
jebradshaw | 5:3e07f69d8abd | 136 | } |
jebradshaw | 5:3e07f69d8abd | 137 | else{ |
jebradshaw | 5:3e07f69d8abd | 138 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 139 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 140 | } |
jebradshaw | 5:3e07f69d8abd | 141 | } |
jebradshaw | 5:3e07f69d8abd | 142 | else{ |
jebradshaw | 5:3e07f69d8abd | 143 | if(dc > 0.001){ |
jebradshaw | 5:3e07f69d8abd | 144 | _dir1_pin = 1; |
jebradshaw | 5:3e07f69d8abd | 145 | _pwm_pin = dc; |
jebradshaw | 5:3e07f69d8abd | 146 | } |
jebradshaw | 5:3e07f69d8abd | 147 | else if(dc < -0.001){ |
jebradshaw | 5:3e07f69d8abd | 148 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 149 | _pwm_pin = abs(dc); |
jebradshaw | 5:3e07f69d8abd | 150 | } |
jebradshaw | 5:3e07f69d8abd | 151 | else{ |
jebradshaw | 5:3e07f69d8abd | 152 | _dir1_pin = 0; |
jebradshaw | 5:3e07f69d8abd | 153 | _pwm_pin = 0.0; |
jebradshaw | 5:3e07f69d8abd | 154 | } |
jebradshaw | 5:3e07f69d8abd | 155 | } |
jebradshaw | 5:3e07f69d8abd | 156 | } |
jebradshaw | 0:3ba12980833b | 157 | } |
jebradshaw | 2:10187d108666 | 158 | |
jebradshaw | 6:11fd2e721790 | 159 | void MotCon::setMode(int mode){ |
jebradshaw | 5:3e07f69d8abd | 160 | mc_mode = mode; |
jebradshaw | 2:10187d108666 | 161 | } |
jebradshaw | 5:3e07f69d8abd | 162 | |
jebradshaw | 7:4d79b914ffdf | 163 | int MotCon::getMode(void){ |
jebradshaw | 5:3e07f69d8abd | 164 | return mc_mode; |
jebradshaw | 10:8e93b06e7ff2 | 165 | } |
jebradshaw | 10:8e93b06e7ff2 | 166 | |
jebradshaw | 10:8e93b06e7ff2 | 167 | float MotCon::read(void){ |
jebradshaw | 10:8e93b06e7ff2 | 168 | float ret = this->duty_cycle; |
jebradshaw | 10:8e93b06e7ff2 | 169 | |
jebradshaw | 10:8e93b06e7ff2 | 170 | return ret; |
jebradshaw | 10:8e93b06e7ff2 | 171 | } |
jebradshaw | 10:8e93b06e7ff2 | 172 | |
jebradshaw | 10:8e93b06e7ff2 | 173 | MotCon& MotCon::operator= (float value){ |
jebradshaw | 10:8e93b06e7ff2 | 174 | mot_control(value); |
jebradshaw | 10:8e93b06e7ff2 | 175 | |
jebradshaw | 10:8e93b06e7ff2 | 176 | return *this; |
jebradshaw | 10:8e93b06e7ff2 | 177 | } |
jebradshaw | 10:8e93b06e7ff2 | 178 | |
jebradshaw | 10:8e93b06e7ff2 | 179 | MotCon& MotCon::operator= (MotCon& rhs) { |
jebradshaw | 10:8e93b06e7ff2 | 180 | // Underlying call is thread safe |
jebradshaw | 10:8e93b06e7ff2 | 181 | mot_control(rhs.read()); |
jebradshaw | 10:8e93b06e7ff2 | 182 | |
jebradshaw | 10:8e93b06e7ff2 | 183 | return *this; |
jebradshaw | 10:8e93b06e7ff2 | 184 | } |
jebradshaw | 10:8e93b06e7ff2 | 185 | |
jebradshaw | 10:8e93b06e7ff2 | 186 | MotCon::operator float(){ |
jebradshaw | 10:8e93b06e7ff2 | 187 | // Underlying call is thread safe |
jebradshaw | 10:8e93b06e7ff2 | 188 | return this->read(); |
jebradshaw | 5:3e07f69d8abd | 189 | } |