Jon Fuge / MotorController

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Dependents:   RenBuggy

MotorController.cpp@0:4aa0a6b134ea, 2014-01-15 (annotated)

Committer:
jf1452
Date:
Wed Jan 15 11:48:41 2014 +0000
Revision:
0:4aa0a6b134ea
Child:
1:548ee2d0bb89
Simplified class for DC motor drive using PWM

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_C
jf1452 0:4aa0a6b134ea 29 #define _DCMOTORCONTROLLER_C
jf1452 0:4aa0a6b134ea 30
jf1452 0:4aa0a6b134ea 31 #include "mbed.h"
jf1452 0:4aa0a6b134ea 32 #include "MotorController.h"
jf1452 0:4aa0a6b134ea 33
jf1452 0:4aa0a6b134ea 34 MotorController::MotorController(PinName LMotorOut, PinName LSensorIn, PinName RMotorOut, PinName RSensorIn):
jf1452 0:4aa0a6b134ea 35 _LeftMotor(p5, p7), _RightMotor(p6, p8)
jf1452 0:4aa0a6b134ea 36 {
jf1452 0:4aa0a6b134ea 37 _LeftMotor.SetMotorPwmAndRevolutions(18000,32);
jf1452 0:4aa0a6b134ea 38 _RightMotor.SetMotorPwmAndRevolutions(18000,32);
jf1452 0:4aa0a6b134ea 39 }
jf1452 0:4aa0a6b134ea 40
jf1452 0:4aa0a6b134ea 41 void MotorController::LeftResetOdometer(void)
jf1452 0:4aa0a6b134ea 42 {
jf1452 0:4aa0a6b134ea 43 _LeftMotor.ResetOdometer();
jf1452 0:4aa0a6b134ea 44 }
jf1452 0:4aa0a6b134ea 45
jf1452 0:4aa0a6b134ea 46 int MotorController::LeftReadOdometer(void)
jf1452 0:4aa0a6b134ea 47 {
jf1452 0:4aa0a6b134ea 48 return(_LeftMotor.ReadOdometer());
jf1452 0:4aa0a6b134ea 49 }
jf1452 0:4aa0a6b134ea 50
jf1452 0:4aa0a6b134ea 51 int MotorController::LeftReadCaptureTime(void)
jf1452 0:4aa0a6b134ea 52 {
jf1452 0:4aa0a6b134ea 53 return(_LeftMotor.ReadCaptureTime());
jf1452 0:4aa0a6b134ea 54 }
jf1452 0:4aa0a6b134ea 55
jf1452 0:4aa0a6b134ea 56 int MotorController::LeftReadLastTime(void)
jf1452 0:4aa0a6b134ea 57 {
jf1452 0:4aa0a6b134ea 58 return(_LeftMotor.GetLastPulseTime());
jf1452 0:4aa0a6b134ea 59 }
jf1452 0:4aa0a6b134ea 60
jf1452 0:4aa0a6b134ea 61 void MotorController::RightResetOdometer(void)
jf1452 0:4aa0a6b134ea 62 {
jf1452 0:4aa0a6b134ea 63 _RightMotor.ResetOdometer();
jf1452 0:4aa0a6b134ea 64 }
jf1452 0:4aa0a6b134ea 65
jf1452 0:4aa0a6b134ea 66 int MotorController::RightReadOdometer(void)
jf1452 0:4aa0a6b134ea 67 {
jf1452 0:4aa0a6b134ea 68 return(_RightMotor.ReadOdometer());
jf1452 0:4aa0a6b134ea 69 }
jf1452 0:4aa0a6b134ea 70
jf1452 0:4aa0a6b134ea 71 int MotorController::RightReadCaptureTime(void)
jf1452 0:4aa0a6b134ea 72 {
jf1452 0:4aa0a6b134ea 73 return(_RightMotor.ReadCaptureTime());
jf1452 0:4aa0a6b134ea 74 }
jf1452 0:4aa0a6b134ea 75
jf1452 0:4aa0a6b134ea 76 int MotorController::RightReadLastTime(void)
jf1452 0:4aa0a6b134ea 77 {
jf1452 0:4aa0a6b134ea 78 return(_RightMotor.GetLastPulseTime());
jf1452 0:4aa0a6b134ea 79 }
jf1452 0:4aa0a6b134ea 80 #endif