Dual DC Motor Drive using PWM for RenBuggy; there are two inputs to feed a hall sensor for distance / speed feedback.
DCMotorDrive.h
- Committer:
- jf1452
- Date:
- 2014-01-14
- Revision:
- 0:34800070e9dc
- Child:
- 1:0c8cb3439288
File content as of revision 0:34800070e9dc:
/******************************************************************************* * 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_H #define _DCMOTORDRIVE_H #include "mbed.h" #define WHEEL_CIRCUMFERENCE 114.4 #define COUNTS_PER_ROTATION 64 #define PWM_SPEED_ADJUST 20 #define ROTATION_LIMIT 20 #define PWM_PERIOD 20 #define PWM_PERIOD_US PWM_PERIOD * 1000 #define MOTOR_STALL_TIME 2 #define CAL_SPEED 80 // CalSpeed is 80 mm/s #define TWO_SECONDS 2000000 #define US_IN_SECONDS 1000000 class DCMotorDrive { public: DCMotorDrive(PinName MotorOut, PinName SensorIn); void SetMotorPwm(int PwmValue); int GetAveragePulseTime(void); void ResetOdometer(void); int ReadOdometer(void); void ClearBuffer(void); private: Ticker timeout; Timer PulseClock; volatile int ClockBuffer[16]; volatile int ClockPointer; volatile int RotationCounter; PwmOut _MotorPin; InterruptIn _SensorIn; void Counter(void); void Stall(void); }; #endif // _DCMOTORDRIVE_H