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.h
- Committer:
- jebradshaw
- Date:
- 2016-10-18
- Revision:
- 5:3e07f69d8abd
- Parent:
- 4:10187d108666
- Child:
- 6:709761ee0a14
File content as of revision 5:3e07f69d8abd:
/* 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 mot_control(float dc); void mot_control(float dc, int invert); void setMode(int mode); bool getMode(void); bool mc_mode; private: bool _dir2; protected: PwmOut _pwm_pin; DigitalOut _dir1_pin; DigitalOut _dir2_pin; }; #endif