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:
- 2016-11-15
- Revision:
- 6:709761ee0a14
- Parent:
- 5:3e07f69d8abd
File content as of revision 6:709761ee0a14:
#include "mbed.h" #include "MotCon.h" //Constructor MotCon::MotCon(PinName pwm_pin, PinName dir1_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(NC) { _dir2 = false; _pwm_pin.period_us(50); _pwm_pin = 0.0; _dir1_pin = 0; } MotCon::MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin) : _pwm_pin(pwm_pin), _dir1_pin(dir1_pin), _dir2_pin(dir2_pin) { _dir2 = true; _pwm_pin.period_us(50); _pwm_pin = 0.0; _dir1_pin = 0; _dir2_pin = 0; mc_mode = 0; //mode pin determines braking (1 = dynamic braking, 0 = free-wheeling) } // 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(_dir2){ if(dc > 0.001){ _dir1_pin = 0; _dir2_pin = 1; _pwm_pin = dc; } else if(dc < -0.001){ _dir2_pin = 0; _dir1_pin = 1; _pwm_pin = abs(dc); } else{ if(mc_mode){ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 1.0; } else{ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 0.0; } } } else{ if(dc > 0.001){ _dir1_pin = 0; _pwm_pin = dc; } else if(dc < -0.001){ _dir1_pin = 1; _pwm_pin = abs(dc); } else{ _dir1_pin = 0; _pwm_pin = 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(_dir2){ if(invert==0){ if(dc > 0.001){ _dir1_pin = 0; _dir2_pin = 1; _pwm_pin = dc; } else if(dc < -0.001){ _dir2_pin = 0; _dir1_pin = 1; _pwm_pin = abs(dc); } else{ if(mc_mode){ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 1.0; } else{ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 0.0; } } } else{ if(dc > 0.001){ _dir2_pin = 0; _dir1_pin = 1; _pwm_pin = dc; } else if(dc < -0.001){ _dir1_pin = 0; _dir2_pin = 1; _pwm_pin = abs(dc); } else{ if(mc_mode){ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 1.0; } else{ _dir1_pin = 0; _dir2_pin = 0; _pwm_pin = 0.0; } } } } else{ if(invert==0){ if(dc > 0.001){ _dir1_pin = 0; _pwm_pin = dc; } else if(dc < -0.001){ _dir1_pin = 1; _pwm_pin = abs(dc); } else{ _dir1_pin = 0; _pwm_pin = 0.0; } } else{ if(dc > 0.001){ _dir1_pin = 1; _pwm_pin = dc; } else if(dc < -0.001){ _dir1_pin = 0; _pwm_pin = abs(dc); } else{ _dir1_pin = 0; _pwm_pin = 0.0; } } } } void MotCon::setMode(bool mode){ mc_mode = mode; } bool MotCon::getMode(void){ return mc_mode; }