Joseph Bradshaw / MotCon

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Dependents:   mbed_ES410_simpleSpeedMeasurement mbed_ES20X_V21_Tester

MotCon.h@11:7cea0061a144, 2018-03-16 (annotated)

Committer:
jebradshaw
Date:
Fri Mar 16 15:34:29 2018 +0000
Revision:
11:7cea0061a144
Parent:
10:8e93b06e7ff2 
Added shorthand operator read and write functions.  May need to check overloaded function using invert

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 5:3e07f69d8abd 1 /* mbed MotCon Library, for the various DC motor control IC's using PWM and one
jebradshaw 5:3e07f69d8abd 2 * or two direction pins.
jebradshaw 5:3e07f69d8abd 3 * Copyright (c) 2016, Joseph Bradshaw
jebradshaw 11:7cea0061a144 4 * 20180316 - Added shorthand read and write operator functions.
jebradshaw 11:7cea0061a144 5 * May need to check implementation of overloaded class write function
jebradshaw 11:7cea0061a144 6 * using invert
jebradshaw 5:3e07f69d8abd 7 *
jebradshaw 5:3e07f69d8abd 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
jebradshaw 5:3e07f69d8abd 9 * of this software and associated documentation files (the "Software"), to deal
jebradshaw 5:3e07f69d8abd 10 * in the Software without restriction, including without limitation the rights
jebradshaw 5:3e07f69d8abd 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jebradshaw 5:3e07f69d8abd 12 * copies of the Software, and to permit persons to whom the Software is
jebradshaw 5:3e07f69d8abd 13 * furnished to do so, subject to the following conditions:
jebradshaw 5:3e07f69d8abd 14 *
jebradshaw 5:3e07f69d8abd 15 * The above copyright notice and this permission notice shall be included in
jebradshaw 5:3e07f69d8abd 16 * all copies or substantial portions of the Software.
jebradshaw 5:3e07f69d8abd 17 *
jebradshaw 5:3e07f69d8abd 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jebradshaw 5:3e07f69d8abd 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jebradshaw 5:3e07f69d8abd 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jebradshaw 5:3e07f69d8abd 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jebradshaw 5:3e07f69d8abd 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jebradshaw 5:3e07f69d8abd 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jebradshaw 5:3e07f69d8abd 24 * THE SOFTWARE.
jebradshaw 5:3e07f69d8abd 25 */
jebradshaw 0:3ba12980833b 26 #include "mbed.h"
jebradshaw 0:3ba12980833b 27
jebradshaw 0:3ba12980833b 28 #ifndef MBED_MOTCON_H
jebradshaw 0:3ba12980833b 29 #define MBED_MOTCON_H
jebradshaw 0:3ba12980833b 30
jebradshaw 0:3ba12980833b 31 class MotCon{
jebradshaw 0:3ba12980833b 32 public:
jebradshaw 5:3e07f69d8abd 33 /** Create a motor control port object connected to the specified pins
jebradshaw 5:3e07f69d8abd 34 *
jebradshaw 5:3e07f69d8abd 35 * @param pwm_pin PwmOut pin for the enable or speed control
jebradshaw 5:3e07f69d8abd 36 * @param dir1_pin DigitalOut pin to control the motor direction
jebradshaw 5:3e07f69d8abd 37 */
jebradshaw 5:3e07f69d8abd 38 MotCon(PinName pwm_pin, PinName dir1_pin);
jebradshaw 5:3e07f69d8abd 39
jebradshaw 5:3e07f69d8abd 40 /** Create a motor control port object connected to the specified pins.
jebradshaw 5:3e07f69d8abd 41 * The two direction pins are typically complementary and provide
jebradshaw 5:3e07f69d8abd 42 * the capability of dynamic braking, free-wheeling, forward and reverse.
jebradshaw 5:3e07f69d8abd 43 *
jebradshaw 5:3e07f69d8abd 44 * @param pwm_pin PwmOut pin for the enable or speed control
jebradshaw 5:3e07f69d8abd 45 * @param dir1_pin DigitalOut pin to control the motor direction
jebradshaw 5:3e07f69d8abd 46 * @param dir2_pin DigitalOut pin to control the motor direction
jebradshaw 5:3e07f69d8abd 47 */
jebradshaw 5:3e07f69d8abd 48 MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin);
jebradshaw 5:3e07f69d8abd 49
jebradshaw 5:3e07f69d8abd 50 /** This function will set the direction and pwm percent scaled
jebradshaw 5:3e07f69d8abd 51 * from 0.0 - 1.0 and control the direction pin or pins
jebradshaw 5:3e07f69d8abd 52 * If two direction pins are used, the user can control the breaking
jebradshaw 5:3e07f69d8abd 53 * mode by using the mutator functions for get_mode() and set_mode()
jebradshaw 5:3e07f69d8abd 54 * If only one direction pin is used, dynamic breaking and syncronous
jebradshaw 5:3e07f69d8abd 55 * rectification are assumed. See the specific motor driver part datasheet
jebradshaw 5:3e07f69d8abd 56 * for additional details.
jebradshaw 5:3e07f69d8abd 57 *
jebradshaw 5:3e07f69d8abd 58 * @param dc is signed float duty cycle (+/-1.0)
jebradshaw 5:3e07f69d8abd 59 */
jebradshaw 5:3e07f69d8abd 60 void mot_control(float dc);
jebradshaw 7:4d79b914ffdf 61 void mot_control(float dc, int invert); //this function can be used to invert the motor direction
jebradshaw 5:3e07f69d8abd 62
jebradshaw 7:4d79b914ffdf 63 void setMode(int mode); //mode: 1 = dynamic braking, 0 = free-wheeling (default)
jebradshaw 7:4d79b914ffdf 64 int getMode(void);
jebradshaw 10:8e93b06e7ff2 65 float read(void);
jebradshaw 10:8e93b06e7ff2 66 /** Shorthand for the write and read functions */
jebradshaw 10:8e93b06e7ff2 67 MotCon& operator= (float value);
jebradshaw 10:8e93b06e7ff2 68 MotCon& operator= (MotCon& rhs);
jebradshaw 10:8e93b06e7ff2 69 operator float();
jebradshaw 10:8e93b06e7ff2 70
jebradshaw 10:8e93b06e7ff2 71 float duty_cycle;
jebradshaw 10:8e93b06e7ff2 72
jebradshaw 5:3e07f69d8abd 73 bool mc_mode;
jebradshaw 0:3ba12980833b 74 private:
jebradshaw 5:3e07f69d8abd 75 bool _dir2;
jebradshaw 5:3e07f69d8abd 76
jebradshaw 5:3e07f69d8abd 77 protected:
jebradshaw 5:3e07f69d8abd 78 PwmOut _pwm_pin;
jebradshaw 5:3e07f69d8abd 79 DigitalOut _dir1_pin;
jebradshaw 5:3e07f69d8abd 80 DigitalOut _dir2_pin;
jebradshaw 0:3ba12980833b 81 };
jebradshaw 0:3ba12980833b 82
jebradshaw 0:3ba12980833b 83 #endif