DCMotorDrive.cpp

00001 /*******************************************************************************
00002 * RenBED DC Motor Drive for RenBuggy                                           *
00003 * Copyright (c) 2014 Jon Fuge                                                  *
00004 *                                                                              *
00005 * Permission is hereby granted, free of charge, to any person obtaining a copy *
00006 * of this software and associated documentation files (the "Software"), to deal*
00007 * in the Software without restriction, including without limitation the rights *
00008 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell    *
00009 * copies of the Software, and to permit persons to whom the Software is        *
00010 * furnished to do so, subject to the following conditions:                     *
00011 *                                                                              *
00012 * The above copyright notice and this permission notice shall be included in   *
00013 * all copies or substantial portions of the Software.                          *
00014 *                                                                              *
00015 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR   *
00016 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,     *
00017 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE  *
00018 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER       *
00019 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
00020 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN    *
00021 * THE SOFTWARE.                                                                *
00022 *                                                                              *
00023 * DCMotorDrive.h                                                               *
00024 *                                                                              *
00025 * V1.0 06/01/2014 First issue of code                      Jon Fuge            *
00026 *******************************************************************************/
00027 
00028 #ifndef _DCMOTORDRIVE_C
00029 #define _DCMOTORDRIVE_C
00030 
00031 #include "mbed.h"
00032 #include "DCMotorDrive.h"
00033 
00034 DCMotorDrive::DCMotorDrive(PinName MotorOut, PinName BrakeOut, PinName SensorIn):
00035     _MotorPin(MotorOut), _BrakePin(BrakeOut), _SensorIn(SensorIn)
00036 {
00037     _MotorPin.period_ms(PWM_PERIOD);
00038     SetMotorPwmAndRevolutions(0,0);
00039     _SensorIn.mode(PullUp);
00040     _SensorIn.fall(this, &DCMotorDrive::Counter);
00041     _BrakePin = 1;
00042     PulseClock.start();
00043     PulseClock.reset();
00044     ResetOdometer();
00045 }
00046 
00047 void DCMotorDrive::SetMotorPwm(int PwmValue)
00048 {
00049     if (PwmValue <= 0)
00050     {
00051         _MotorPin.pulsewidth_us(0);
00052         _BrakePin = 1;
00053     } else
00054     {
00055         _BrakePin = 0;
00056         timeout.attach(this, &DCMotorDrive::Stall, MOTOR_STALL_TIME);
00057         _MotorPin.pulsewidth_us(PwmValue);
00058     }
00059 }
00060 
00061 void DCMotorDrive::SetMotorPwmAndRevolutions(int PwmValue, int MaxRevolutions)
00062 {
00063     SetMotorPwm(PwmValue);
00064     RevolutionLimit = MaxRevolutions;
00065 }
00066 
00067 int DCMotorDrive::GetLastPulseTime(void)
00068 {
00069     return(LastPulseTime);
00070 }
00071 
00072 int DCMotorDrive::GetRevolutionsLeft(void)
00073 {
00074     return(RevolutionLimit);
00075 }
00076 void DCMotorDrive::ResetOdometer(void)
00077 {
00078     RotationCounter = 0;
00079 }
00080 
00081 int DCMotorDrive::ReadOdometer(void)
00082 {
00083     return(RotationCounter);
00084 }
00085 
00086 void DCMotorDrive::Counter(void)
00087 {
00088     LastPulseTime = PulseClock.read_us();
00089     PulseClock.reset();
00090     timeout.detach();
00091     timeout.attach(this, &DCMotorDrive::Stall, MOTOR_STALL_TIME);
00092     RotationCounter++;
00093     if (RevolutionLimit != 0)
00094         if (--RevolutionLimit == 0)
00095         {
00096             SetMotorPwmAndRevolutions(0,0);
00097             _BrakePin = 1;
00098             timeout.detach();
00099         }
00100 }
00101 
00102 void DCMotorDrive::Stall(void)
00103 {
00104     SetMotorPwmAndRevolutions(0,0);
00105     _BrakePin = 1;
00106     timeout.detach();
00107 }
00108 
00109 #endif