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: Teensy_Mot_QEI_Ser_20180111 Axis Axis_20181108 Axis_version2
Fork of MotCon by
Overloaded class that takes a pwm motor control pin and one or two direction pins for driving DC motors with a variety of motor control IC's. Tested examples include the LM298, TD340, MC33926, A3949.
MotCon.cpp
- Committer:
- jebradshaw
- Date:
- 2016-05-23
- Revision:
- 4:10187d108666
- Parent:
- 0:3ba12980833b
- Child:
- 2:23cd902e1774
- Child:
- 5:3e07f69d8abd
File content as of revision 4:10187d108666:
#include "MotCon.h" //Constructor MotCon::MotCon(PinName pwm, PinName dir) : _pwm(pwm), _dir(dir) { _pwm.period_us(50); _pwm = 0.0; _dir = 0; } // dc is signed duty cycle (+/-1.0) void MotCon::mot_control(float dc){ if(dc>1.0) dc=1.0; if(dc<-1.0) dc=-1.0; if(dc > 0.001){ _dir = 0; _pwm = dc; } else if(dc < -0.001){ _dir = 1; _pwm = abs(dc); } else{ _dir = 0; _pwm = 0.0; } } // dc is signed duty cycle (+/-1.0) void MotCon::mot_control(float dc, int invert){ if(dc>1.0) dc=1.0; if(dc<-1.0) dc=-1.0; if(invert==0){ if(dc > 0.001){ _dir = 0; _pwm = dc; } else if(dc < -0.001){ _dir = 1; _pwm = abs(dc); } else{ _dir = 0; _pwm = 0.0; } } else{ if(dc > 0.001){ _dir = 1; _pwm = dc; } else if(dc < -0.001){ _dir = 0; _pwm = abs(dc); } else{ _dir = 0; _pwm = 0.0; } } }