Diff: DCMotorDrive.cpp

Revision:

0:34800070e9dc

Child:

1:0c8cb3439288

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DCMotorDrive.cpp	Tue Jan 14 10:45:19 2014 +0000
@@ -0,0 +1,100 @@
+/*******************************************************************************
+* RenBED DC Motor Drive for RenBuggy                                           *
+* Copyright (c) 2014 Jon Fuge                                                  *
+*                                                                              *
+* 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.                                                                *
+*                                                                              *
+* DCMotorDrive.h                                                               *
+*                                                                              *
+* V1.0 06/01/2014 First issue of code                      Jon Fuge            *
+*******************************************************************************/
+
+#ifndef _DCMOTORDRIVE_C
+#define _DCMOTORDRIVE_C
+
+#include "mbed.h"
+#include "DCMotorDrive.h"
+
+DCMotorDrive::DCMotorDrive(PinName MotorOut, PinName SensorIn):
+    _MotorPin(MotorOut), _SensorIn(SensorIn)
+{
+    _MotorPin.period_ms(PWM_PERIOD);
+    SetMotorPwm(0);
+    _SensorIn.mode(PullUp);
+    _SensorIn.fall(this, &DCMotorDrive::Counter);
+    PulseClock.reset();
+    ResetOdometer();
+    ClearBuffer();
+}
+
+void DCMotorDrive::SetMotorPwm(int PwmValue)
+{
+    _MotorPin.pulsewidth_us(PwmValue);
+}
+
+int DCMotorDrive::GetAveragePulseTime(void)
+{
+    uint32_t    Average = 0;
+    int         BufferPointer;
+    int         ValueCount = 0;
+    
+    for (BufferPointer = 0; BufferPointer <= 15; BufferPointer++ )
+    {
+        if (ClockBuffer[BufferPointer] != 0)
+            ValueCount ++;
+        Average += ClockBuffer[BufferPointer];
+    }
+    return((int)(Average / ValueCount));
+}
+
+void DCMotorDrive::ResetOdometer(void)
+{
+    RotationCounter = 0;
+}
+
+int DCMotorDrive::ReadOdometer(void)
+{
+    return(RotationCounter);
+}
+
+void DCMotorDrive::ClearBuffer(void)
+{
+    int         BufferPointer;
+
+    ClockBuffer[ClockPointer = 0] = 0;
+    for (BufferPointer = 1; BufferPointer <= 15; BufferPointer++ )
+        ClockBuffer[BufferPointer] = 0;
+}
+void DCMotorDrive::Counter(void)
+{
+    ClockBuffer[ClockPointer] = PulseClock.read_us();
+    PulseClock.reset();
+    timeout.attach(this, &DCMotorDrive::Stall, MOTOR_STALL_TIME);
+    RotationCounter++;
+    if (++ClockPointer > 15)
+        ClockPointer = 0;
+}
+
+void DCMotorDrive::Stall(void)
+{
+    ClearBuffer();
+    timeout.detach();
+}
+
+#endif
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