Jon Fuge / MotorController

A motor control class for driving two DC motors as part of RenBuggy

Dependents:   RenBuggy

MotorController.h@3:2c9ebe06b127, 2014-01-21 (annotated)

Committer:
jf1452
Date:
Tue Jan 21 13:31:11 2014 +0000
Revision:
3:2c9ebe06b127
Parent:
2:2e59abd4b6b9
Parent:
1:548ee2d0bb89 
Update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jf1452 0:4aa0a6b134ea 1 /*******************************************************************************
jf1452 0:4aa0a6b134ea 2 * RenBED DC Motor Drive for RenBuggy *
jf1452 0:4aa0a6b134ea 3 * Copyright (c) 2014 Jon Fuge *
jf1452 0:4aa0a6b134ea 4 * *
jf1452 0:4aa0a6b134ea 5 * Permission is hereby granted, free of charge, to any person obtaining a copy *
jf1452 0:4aa0a6b134ea 6 * of this software and associated documentation files (the "Software"), to deal*
jf1452 0:4aa0a6b134ea 7 * in the Software without restriction, including without limitation the rights *
jf1452 0:4aa0a6b134ea 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
jf1452 0:4aa0a6b134ea 9 * copies of the Software, and to permit persons to whom the Software is *
jf1452 0:4aa0a6b134ea 10 * furnished to do so, subject to the following conditions: *
jf1452 0:4aa0a6b134ea 11 * *
jf1452 0:4aa0a6b134ea 12 * The above copyright notice and this permission notice shall be included in *
jf1452 0:4aa0a6b134ea 13 * all copies or substantial portions of the Software. *
jf1452 0:4aa0a6b134ea 14 * *
jf1452 0:4aa0a6b134ea 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
jf1452 0:4aa0a6b134ea 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
jf1452 0:4aa0a6b134ea 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
jf1452 0:4aa0a6b134ea 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
jf1452 0:4aa0a6b134ea 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
jf1452 0:4aa0a6b134ea 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
jf1452 0:4aa0a6b134ea 21 * THE SOFTWARE. *
jf1452 0:4aa0a6b134ea 22 * *
jf1452 0:4aa0a6b134ea 23 * DCMotorDrive.h *
jf1452 0:4aa0a6b134ea 24 * *
jf1452 0:4aa0a6b134ea 25 * V1.0 06/01/2014 First issue of code Jon Fuge *
jf1452 0:4aa0a6b134ea 26 *******************************************************************************/
jf1452 0:4aa0a6b134ea 27
jf1452 0:4aa0a6b134ea 28 #ifndef _DCMOTORCONTROLLER_H
jf1452 0:4aa0a6b134ea 29 #define _DCMOTORCONTROLLER_H
jf1452 0:4aa0a6b134ea 30
jf1452 0:4aa0a6b134ea 31 #include "mbed.h"
jf1452 0:4aa0a6b134ea 32 #include "DCMotorDrive.h"
jf1452 0:4aa0a6b134ea 33
jf1452 0:4aa0a6b134ea 34 #define WHEEL_CIRCUMFERENCE 114.4
jf1452 0:4aa0a6b134ea 35 #define COUNTS_PER_ROTATION 64
jf1452 0:4aa0a6b134ea 36 #define PWM_SPEED_ADJUST 20
jf1452 0:4aa0a6b134ea 37 #define ROTATION_LIMIT 20
jf1452 0:4aa0a6b134ea 38
jf1452 0:4aa0a6b134ea 39 class MotorController
jf1452 0:4aa0a6b134ea 40 {
jf1452 0:4aa0a6b134ea 41 public:
jf1452 1:548ee2d0bb89 42 MotorController(PinName LMotorOut, PinName LBrakeOut, PinName LSensorIn, PinName LMotorOut, PinName RBrakeOut, PinName LSensorIn);
jf1452 1:548ee2d0bb89 43 void Forwards(int ForwardCount);
jf1452 1:548ee2d0bb89 44 void ResetOdometer(void);
jf1452 1:548ee2d0bb89 45 int ReadOdometer(void);
jf1452 1:548ee2d0bb89 46 int ReadLeftOdometer(void);
jf1452 1:548ee2d0bb89 47 int ReadRightOdometer(void);
jf1452 0:4aa0a6b134ea 48 private:
jf1452 1:548ee2d0bb89 49 DCMotorDrive _LeftMotor;
jf1452 1:548ee2d0bb89 50 DCMotorDrive _RightMotor;
jf1452 1:548ee2d0bb89 51 int LeftMotorSpeed;
jf1452 1:548ee2d0bb89 52 int RightMotorSpeed;
jf1452 1:548ee2d0bb89 53 int LeftToRightRatio;
jf1452 1:548ee2d0bb89 54 int DistanceToTravel;
jf1452 1:548ee2d0bb89 55 Ticker trackomatic;
jf1452 1:548ee2d0bb89 56
jf1452 1:548ee2d0bb89 57 void MatchSpeeds(void);
jf1452 1:548ee2d0bb89 58 void UpdatePwms(void);
jf1452 0:4aa0a6b134ea 59 };
jf1452 0:4aa0a6b134ea 60
jf1452 2:2e59abd4b6b9 61 #endif // _DCMOTORCONTROLLER_H