DCMotorDrive.h

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_H
00029 #define _DCMOTORDRIVE_H
00030 
00031 #include "mbed.h"
00032 
00033 #define PWM_PERIOD 20
00034 #define MOTOR_STALL_TIME 2
00035 
00036 class DCMotorDrive
00037 {
00038 public:
00039     DCMotorDrive(PinName MotorOut, PinName BrakeOut, PinName SensorIn);
00040     void    SetMotorPwm(int PwmValue);
00041     void    SetMotorPwmAndRevolutions(int PwmValue, int MaxRevolutions);
00042     int     GetAveragePulseTime(void);
00043     int     GetLastPulseTime(void);
00044     int     GetRevolutionsLeft(void);
00045     void    ResetOdometer(void);
00046     int     ReadOdometer(void);
00047     int     ReadCaptureTime(void);
00048 
00049 private:
00050     Ticker          timeout;
00051     Timer           PulseClock;
00052     volatile int    ClockPointer;
00053     volatile int    LastPulseTime;
00054     volatile int    RotationCounter;
00055     volatile int    RevolutionLimit;
00056 
00057     PwmOut          _MotorPin;
00058     DigitalOut      _BrakePin;
00059     InterruptIn     _SensorIn;
00060     
00061     void    Counter(void);
00062     void    Stall(void);
00063 };
00064 
00065 #endif    // _DCMOTORDRIVE_H