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@6:709761ee0a14, 2016-11-15 (annotated)
- Committer:
- jebradshaw
- Date:
- Tue Nov 15 15:40:19 2016 +0000
- Revision:
- 6:709761ee0a14
- Parent:
- 5:3e07f69d8abd
Overloaded class for using one or two direction pins on motor driver IC with PWM control
Who changed what in which revision?
User | Revision | Line number | New 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 | 5:3e07f69d8abd | 4 | * |
jebradshaw | 5:3e07f69d8abd | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
jebradshaw | 5:3e07f69d8abd | 6 | * of this software and associated documentation files (the "Software"), to deal |
jebradshaw | 5:3e07f69d8abd | 7 | * in the Software without restriction, including without limitation the rights |
jebradshaw | 5:3e07f69d8abd | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jebradshaw | 5:3e07f69d8abd | 9 | * copies of the Software, and to permit persons to whom the Software is |
jebradshaw | 5:3e07f69d8abd | 10 | * furnished to do so, subject to the following conditions: |
jebradshaw | 5:3e07f69d8abd | 11 | * |
jebradshaw | 5:3e07f69d8abd | 12 | * The above copyright notice and this permission notice shall be included in |
jebradshaw | 5:3e07f69d8abd | 13 | * all copies or substantial portions of the Software. |
jebradshaw | 5:3e07f69d8abd | 14 | * |
jebradshaw | 5:3e07f69d8abd | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jebradshaw | 5:3e07f69d8abd | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jebradshaw | 5:3e07f69d8abd | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jebradshaw | 5:3e07f69d8abd | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jebradshaw | 5:3e07f69d8abd | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jebradshaw | 5:3e07f69d8abd | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jebradshaw | 5:3e07f69d8abd | 21 | * THE SOFTWARE. |
jebradshaw | 5:3e07f69d8abd | 22 | */ |
jebradshaw | 0:3ba12980833b | 23 | #include "mbed.h" |
jebradshaw | 0:3ba12980833b | 24 | |
jebradshaw | 0:3ba12980833b | 25 | #ifndef MBED_MOTCON_H |
jebradshaw | 0:3ba12980833b | 26 | #define MBED_MOTCON_H |
jebradshaw | 0:3ba12980833b | 27 | |
jebradshaw | 0:3ba12980833b | 28 | class MotCon{ |
jebradshaw | 0:3ba12980833b | 29 | public: |
jebradshaw | 5:3e07f69d8abd | 30 | /** Create a motor control port object connected to the specified pins |
jebradshaw | 5:3e07f69d8abd | 31 | * |
jebradshaw | 5:3e07f69d8abd | 32 | * @param pwm_pin PwmOut pin for the enable or speed control |
jebradshaw | 5:3e07f69d8abd | 33 | * @param dir1_pin DigitalOut pin to control the motor direction |
jebradshaw | 5:3e07f69d8abd | 34 | */ |
jebradshaw | 5:3e07f69d8abd | 35 | MotCon(PinName pwm_pin, PinName dir1_pin); |
jebradshaw | 5:3e07f69d8abd | 36 | |
jebradshaw | 5:3e07f69d8abd | 37 | /** Create a motor control port object connected to the specified pins. |
jebradshaw | 5:3e07f69d8abd | 38 | * The two direction pins are typically complementary and provide |
jebradshaw | 5:3e07f69d8abd | 39 | * the capability of dynamic braking, free-wheeling, forward and reverse. |
jebradshaw | 5:3e07f69d8abd | 40 | * |
jebradshaw | 5:3e07f69d8abd | 41 | * @param pwm_pin PwmOut pin for the enable or speed control |
jebradshaw | 5:3e07f69d8abd | 42 | * @param dir1_pin DigitalOut pin to control the motor direction |
jebradshaw | 5:3e07f69d8abd | 43 | * @param dir2_pin DigitalOut pin to control the motor direction |
jebradshaw | 5:3e07f69d8abd | 44 | */ |
jebradshaw | 5:3e07f69d8abd | 45 | MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin); |
jebradshaw | 5:3e07f69d8abd | 46 | |
jebradshaw | 5:3e07f69d8abd | 47 | /** This function will set the direction and pwm percent scaled |
jebradshaw | 5:3e07f69d8abd | 48 | * from 0.0 - 1.0 and control the direction pin or pins |
jebradshaw | 5:3e07f69d8abd | 49 | * If two direction pins are used, the user can control the breaking |
jebradshaw | 5:3e07f69d8abd | 50 | * mode by using the mutator functions for get_mode() and set_mode() |
jebradshaw | 5:3e07f69d8abd | 51 | * If only one direction pin is used, dynamic breaking and syncronous |
jebradshaw | 5:3e07f69d8abd | 52 | * rectification are assumed. See the specific motor driver part datasheet |
jebradshaw | 5:3e07f69d8abd | 53 | * for additional details. |
jebradshaw | 5:3e07f69d8abd | 54 | * |
jebradshaw | 5:3e07f69d8abd | 55 | * @param dc is signed float duty cycle (+/-1.0) |
jebradshaw | 5:3e07f69d8abd | 56 | */ |
jebradshaw | 5:3e07f69d8abd | 57 | void mot_control(float dc); |
jebradshaw | 5:3e07f69d8abd | 58 | void mot_control(float dc, int invert); |
jebradshaw | 5:3e07f69d8abd | 59 | |
jebradshaw | 6:709761ee0a14 | 60 | void setMode(bool mode); |
jebradshaw | 5:3e07f69d8abd | 61 | bool getMode(void); |
jebradshaw | 5:3e07f69d8abd | 62 | bool mc_mode; |
jebradshaw | 0:3ba12980833b | 63 | private: |
jebradshaw | 5:3e07f69d8abd | 64 | bool _dir2; |
jebradshaw | 5:3e07f69d8abd | 65 | |
jebradshaw | 5:3e07f69d8abd | 66 | protected: |
jebradshaw | 5:3e07f69d8abd | 67 | PwmOut _pwm_pin; |
jebradshaw | 5:3e07f69d8abd | 68 | DigitalOut _dir1_pin; |
jebradshaw | 5:3e07f69d8abd | 69 | DigitalOut _dir2_pin; |
jebradshaw | 0:3ba12980833b | 70 | }; |
jebradshaw | 0:3ba12980833b | 71 | |
jebradshaw | 0:3ba12980833b | 72 | #endif |