MotCon.h

00001 /* mbed MotCon Library, for the various DC motor control IC's using PWM and one
00002  * or two direction pins.
00003  * Copyright (c) 2016, Joseph Bradshaw
00004  *  20180316 - Added shorthand read and write operator functions.
00005  *   May need to check implementation of overloaded class write function
00006  *    using invert
00007  *
00008  * Permission is hereby granted, free of charge, to any person obtaining a copy
00009  * of this software and associated documentation files (the "Software"), to deal
00010  * in the Software without restriction, including without limitation the rights
00011  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012  * copies of the Software, and to permit persons to whom the Software is
00013  * furnished to do so, subject to the following conditions:
00014  *
00015  * The above copyright notice and this permission notice shall be included in
00016  * all copies or substantial portions of the Software.
00017  *
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024  * THE SOFTWARE.
00025  */
00026 #include "mbed.h"
00027 
00028 #ifndef MBED_MOTCON_H
00029 #define MBED_MOTCON_H
00030 
00031 class MotCon{
00032 public:
00033     /** Create a motor control port object connected to the specified pins
00034      *
00035      * @param pwm_pin PwmOut pin for the enable or speed control
00036      * @param dir1_pin DigitalOut pin to control the motor direction
00037      */
00038     MotCon(PinName pwm_pin, PinName dir1_pin);
00039     
00040     /** Create a motor control port object connected to the specified pins.
00041      *  The two direction pins are typically complementary and provide
00042      *  the capability of dynamic braking, free-wheeling, forward and reverse.
00043      *
00044      * @param pwm_pin PwmOut pin for the enable or speed control
00045      * @param dir1_pin DigitalOut pin to control the motor direction
00046      * @param dir2_pin DigitalOut pin to control the motor direction
00047      */    
00048     MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin);
00049     
00050     /** This function will set the direction and pwm percent scaled 
00051      *  from 0.0 - 1.0 and control the direction pin or pins
00052      *  If two direction pins are used, the user can control the breaking
00053      *  mode by using the mutator functions for get_mode() and set_mode()
00054      *  If only one direction pin is used, dynamic breaking and syncronous 
00055      *  rectification are assumed.  See the specific motor driver part datasheet
00056      *  for additional details.
00057      *
00058      * @param dc is signed float duty cycle (+/-1.0)
00059      */
00060     void mot_control(float dc);
00061     void mot_control(float dc, int invert);  //this function can be used to invert the motor direction
00062     
00063     void setMode(int mode);                  //mode: 1 = dynamic braking, 0 = free-wheeling (default)
00064     int getMode(void);
00065     float read(void);
00066         /**  Shorthand for the write and read functions */
00067     MotCon& operator= (float value);
00068     MotCon& operator= (MotCon& rhs);
00069     operator float();
00070     
00071     float duty_cycle;    
00072     
00073     bool mc_mode;
00074 private:
00075     bool _dir2;
00076     
00077 protected:
00078     PwmOut _pwm_pin;
00079     DigitalOut _dir1_pin;
00080     DigitalOut _dir2_pin;
00081 };
00082 
00083 #endif