Dual DC Motor Drive using PWM for RenBuggy; there are two inputs to feed a hall sensor for distance / speed feedback.
DCMotorDrive.cpp@2:5239659649d1, 2014-01-21 (annotated)
- Committer:
- jf1452
- Date:
- Tue Jan 21 08:21:33 2014 +0000
- Revision:
- 2:5239659649d1
- Parent:
- 1:0c8cb3439288
Update
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jf1452 | 0:34800070e9dc | 1 | /******************************************************************************* |
jf1452 | 0:34800070e9dc | 2 | * RenBED DC Motor Drive for RenBuggy * |
jf1452 | 0:34800070e9dc | 3 | * Copyright (c) 2014 Jon Fuge * |
jf1452 | 0:34800070e9dc | 4 | * * |
jf1452 | 0:34800070e9dc | 5 | * Permission is hereby granted, free of charge, to any person obtaining a copy * |
jf1452 | 0:34800070e9dc | 6 | * of this software and associated documentation files (the "Software"), to deal* |
jf1452 | 0:34800070e9dc | 7 | * in the Software without restriction, including without limitation the rights * |
jf1452 | 0:34800070e9dc | 8 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * |
jf1452 | 0:34800070e9dc | 9 | * copies of the Software, and to permit persons to whom the Software is * |
jf1452 | 0:34800070e9dc | 10 | * furnished to do so, subject to the following conditions: * |
jf1452 | 0:34800070e9dc | 11 | * * |
jf1452 | 0:34800070e9dc | 12 | * The above copyright notice and this permission notice shall be included in * |
jf1452 | 0:34800070e9dc | 13 | * all copies or substantial portions of the Software. * |
jf1452 | 0:34800070e9dc | 14 | * * |
jf1452 | 0:34800070e9dc | 15 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * |
jf1452 | 0:34800070e9dc | 16 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * |
jf1452 | 0:34800070e9dc | 17 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * |
jf1452 | 0:34800070e9dc | 18 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * |
jf1452 | 0:34800070e9dc | 19 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,* |
jf1452 | 0:34800070e9dc | 20 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * |
jf1452 | 0:34800070e9dc | 21 | * THE SOFTWARE. * |
jf1452 | 0:34800070e9dc | 22 | * * |
jf1452 | 0:34800070e9dc | 23 | * DCMotorDrive.h * |
jf1452 | 0:34800070e9dc | 24 | * * |
jf1452 | 0:34800070e9dc | 25 | * V1.0 06/01/2014 First issue of code Jon Fuge * |
jf1452 | 0:34800070e9dc | 26 | *******************************************************************************/ |
jf1452 | 0:34800070e9dc | 27 | |
jf1452 | 0:34800070e9dc | 28 | #ifndef _DCMOTORDRIVE_C |
jf1452 | 0:34800070e9dc | 29 | #define _DCMOTORDRIVE_C |
jf1452 | 0:34800070e9dc | 30 | |
jf1452 | 0:34800070e9dc | 31 | #include "mbed.h" |
jf1452 | 0:34800070e9dc | 32 | #include "DCMotorDrive.h" |
jf1452 | 0:34800070e9dc | 33 | |
jf1452 | 2:5239659649d1 | 34 | DCMotorDrive::DCMotorDrive(PinName MotorOut, PinName BrakeOut, PinName SensorIn): |
jf1452 | 2:5239659649d1 | 35 | _MotorPin(MotorOut), _BrakePin(BrakeOut), _SensorIn(SensorIn) |
jf1452 | 0:34800070e9dc | 36 | { |
jf1452 | 0:34800070e9dc | 37 | _MotorPin.period_ms(PWM_PERIOD); |
jf1452 | 1:0c8cb3439288 | 38 | SetMotorPwmAndRevolutions(0,0); |
jf1452 | 0:34800070e9dc | 39 | _SensorIn.mode(PullUp); |
jf1452 | 0:34800070e9dc | 40 | _SensorIn.fall(this, &DCMotorDrive::Counter); |
jf1452 | 2:5239659649d1 | 41 | _BrakePin = 1; |
jf1452 | 1:0c8cb3439288 | 42 | PulseClock.start(); |
jf1452 | 0:34800070e9dc | 43 | PulseClock.reset(); |
jf1452 | 0:34800070e9dc | 44 | ResetOdometer(); |
jf1452 | 2:5239659649d1 | 45 | } |
jf1452 | 2:5239659649d1 | 46 | |
jf1452 | 2:5239659649d1 | 47 | void DCMotorDrive::SetMotorPwm(int PwmValue) |
jf1452 | 2:5239659649d1 | 48 | { |
jf1452 | 2:5239659649d1 | 49 | if (PwmValue <= 0) |
jf1452 | 2:5239659649d1 | 50 | { |
jf1452 | 2:5239659649d1 | 51 | _MotorPin.pulsewidth_us(0); |
jf1452 | 2:5239659649d1 | 52 | _BrakePin = 1; |
jf1452 | 2:5239659649d1 | 53 | } else |
jf1452 | 2:5239659649d1 | 54 | { |
jf1452 | 2:5239659649d1 | 55 | _BrakePin = 0; |
jf1452 | 2:5239659649d1 | 56 | timeout.attach(this, &DCMotorDrive::Stall, MOTOR_STALL_TIME); |
jf1452 | 2:5239659649d1 | 57 | _MotorPin.pulsewidth_us(PwmValue); |
jf1452 | 2:5239659649d1 | 58 | } |
jf1452 | 0:34800070e9dc | 59 | } |
jf1452 | 0:34800070e9dc | 60 | |
jf1452 | 1:0c8cb3439288 | 61 | void DCMotorDrive::SetMotorPwmAndRevolutions(int PwmValue, int MaxRevolutions) |
jf1452 | 0:34800070e9dc | 62 | { |
jf1452 | 2:5239659649d1 | 63 | SetMotorPwm(PwmValue); |
jf1452 | 1:0c8cb3439288 | 64 | RevolutionLimit = MaxRevolutions; |
jf1452 | 0:34800070e9dc | 65 | } |
jf1452 | 0:34800070e9dc | 66 | |
jf1452 | 1:0c8cb3439288 | 67 | int DCMotorDrive::GetLastPulseTime(void) |
jf1452 | 1:0c8cb3439288 | 68 | { |
jf1452 | 1:0c8cb3439288 | 69 | return(LastPulseTime); |
jf1452 | 1:0c8cb3439288 | 70 | } |
jf1452 | 2:5239659649d1 | 71 | |
jf1452 | 2:5239659649d1 | 72 | int DCMotorDrive::GetRevolutionsLeft(void) |
jf1452 | 2:5239659649d1 | 73 | { |
jf1452 | 2:5239659649d1 | 74 | return(RevolutionLimit); |
jf1452 | 2:5239659649d1 | 75 | } |
jf1452 | 0:34800070e9dc | 76 | void DCMotorDrive::ResetOdometer(void) |
jf1452 | 0:34800070e9dc | 77 | { |
jf1452 | 0:34800070e9dc | 78 | RotationCounter = 0; |
jf1452 | 0:34800070e9dc | 79 | } |
jf1452 | 0:34800070e9dc | 80 | |
jf1452 | 0:34800070e9dc | 81 | int DCMotorDrive::ReadOdometer(void) |
jf1452 | 0:34800070e9dc | 82 | { |
jf1452 | 0:34800070e9dc | 83 | return(RotationCounter); |
jf1452 | 0:34800070e9dc | 84 | } |
jf1452 | 0:34800070e9dc | 85 | |
jf1452 | 0:34800070e9dc | 86 | void DCMotorDrive::Counter(void) |
jf1452 | 0:34800070e9dc | 87 | { |
jf1452 | 1:0c8cb3439288 | 88 | LastPulseTime = PulseClock.read_us(); |
jf1452 | 0:34800070e9dc | 89 | PulseClock.reset(); |
jf1452 | 2:5239659649d1 | 90 | timeout.detach(); |
jf1452 | 0:34800070e9dc | 91 | timeout.attach(this, &DCMotorDrive::Stall, MOTOR_STALL_TIME); |
jf1452 | 0:34800070e9dc | 92 | RotationCounter++; |
jf1452 | 1:0c8cb3439288 | 93 | if (RevolutionLimit != 0) |
jf1452 | 1:0c8cb3439288 | 94 | if (--RevolutionLimit == 0) |
jf1452 | 1:0c8cb3439288 | 95 | { |
jf1452 | 1:0c8cb3439288 | 96 | SetMotorPwmAndRevolutions(0,0); |
jf1452 | 2:5239659649d1 | 97 | _BrakePin = 1; |
jf1452 | 2:5239659649d1 | 98 | timeout.detach(); |
jf1452 | 1:0c8cb3439288 | 99 | } |
jf1452 | 0:34800070e9dc | 100 | } |
jf1452 | 0:34800070e9dc | 101 | |
jf1452 | 0:34800070e9dc | 102 | void DCMotorDrive::Stall(void) |
jf1452 | 0:34800070e9dc | 103 | { |
jf1452 | 2:5239659649d1 | 104 | SetMotorPwmAndRevolutions(0,0); |
jf1452 | 2:5239659649d1 | 105 | _BrakePin = 1; |
jf1452 | 0:34800070e9dc | 106 | timeout.detach(); |
jf1452 | 0:34800070e9dc | 107 | } |
jf1452 | 0:34800070e9dc | 108 | |
jf1452 | 0:34800070e9dc | 109 | #endif |