Dual DC Motor Drive using PWM for RenBuggy; there are two inputs to feed a hall sensor for distance / speed feedback.
DCMotorDrive.cpp
- Committer:
- jf1452
- Date:
- 2014-01-21
- Revision:
- 2:5239659649d1
- Parent:
- 1:0c8cb3439288
File content as of revision 2:5239659649d1:
/******************************************************************************* * 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 BrakeOut, PinName SensorIn): _MotorPin(MotorOut), _BrakePin(BrakeOut), _SensorIn(SensorIn) { _MotorPin.period_ms(PWM_PERIOD); SetMotorPwmAndRevolutions(0,0); _SensorIn.mode(PullUp); _SensorIn.fall(this, &DCMotorDrive::Counter); _BrakePin = 1; PulseClock.start(); PulseClock.reset(); ResetOdometer(); } void DCMotorDrive::SetMotorPwm(int PwmValue) { if (PwmValue <= 0) { _MotorPin.pulsewidth_us(0); _BrakePin = 1; } else { _BrakePin = 0; timeout.attach(this, &DCMotorDrive::Stall, MOTOR_STALL_TIME); _MotorPin.pulsewidth_us(PwmValue); } } void DCMotorDrive::SetMotorPwmAndRevolutions(int PwmValue, int MaxRevolutions) { SetMotorPwm(PwmValue); RevolutionLimit = MaxRevolutions; } int DCMotorDrive::GetLastPulseTime(void) { return(LastPulseTime); } int DCMotorDrive::GetRevolutionsLeft(void) { return(RevolutionLimit); } void DCMotorDrive::ResetOdometer(void) { RotationCounter = 0; } int DCMotorDrive::ReadOdometer(void) { return(RotationCounter); } void DCMotorDrive::Counter(void) { LastPulseTime = PulseClock.read_us(); PulseClock.reset(); timeout.detach(); timeout.attach(this, &DCMotorDrive::Stall, MOTOR_STALL_TIME); RotationCounter++; if (RevolutionLimit != 0) if (--RevolutionLimit == 0) { SetMotorPwmAndRevolutions(0,0); _BrakePin = 1; timeout.detach(); } } void DCMotorDrive::Stall(void) { SetMotorPwmAndRevolutions(0,0); _BrakePin = 1; timeout.detach(); } #endif