Revision 0:7efb3e6f7c7a, committed 2015-06-25

Comitter:

jimherd

Date:

Thu Jun 25 19:55:40 2015 +0000

Child:

1:0afd9f1a4e4f

Commit message:

First version of library to control an MD03 H-bridge unit.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MD03.cpp	Thu Jun 25 19:55:40 2015 +0000
@@ -0,0 +1,65 @@
+/*
+ * MD03 : 24v 20A H-bridge motor driver in I2C bus
+ */
+#include "mbed.h"
+#include "MD03.h"
+ 
+MD03::MD03(PinName sda, PinName scl, int i2cAddress)  : _i2c(sda, scl) {
+    _writeOpcode = i2cAddress & 0xFE;
+    _readOpcode  = i2cAddress | 0x01;
+}
+ 
+void MD03::set_speed(int speed) 
+{
+char data[2];
+
+    data[0] = MD03_SPEED;
+    data[1] = ((speed * 255)/100);
+    _i2c.write(_writeOpcode, data, 2);
+}
+
+void MD03::set_accel(int acceleration) 
+{
+char data[2];
+
+    data[0] = MD03_ACCELERATION;
+    data[1] = 255 - ((acceleration * 255)/100);
+    _i2c.write(_writeOpcode, data, 2);
+}
+
+void MD03::stop(void) 
+{
+char data[2];
+
+    data[0] = MD03_COMMAND;
+    data[1] = MD03_CMD_STOP;
+    _i2c.write(_writeOpcode, data, 2);
+}
+
+void MD03::move_forward(void) 
+{
+char data[2];
+
+    data[0] = MD03_COMMAND;
+    data[1] = MD03_CMD_FORWARD;
+    _i2c.write(_writeOpcode, data, 2);
+}
+
+void MD03::move_reverse(void) 
+{
+char data[2];
+
+    data[0] = MD03_COMMAND;
+    data[1] = MD03_CMD_REVERSE;
+    _i2c.write(_writeOpcode, data, 2);
+}
+
+char MD03::read_reg(int reg) 
+{
+char data[2];
+
+    data[0] = reg;
+    _i2c.write(_writeOpcode, data, 1);
+    _i2c.read(_readOpcode, data, 1);
+    return data[0];
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MD03.h	Thu Jun 25 19:55:40 2015 +0000
@@ -0,0 +1,44 @@
+/*
+ */
+#include "mbed.h"
+ 
+#ifndef  MD03_H
+#define  MD03_H
+ 
+/*
+ * list of registers
+ */
+#define MD03_COMMAND           0x00
+#define MD03_STATUS            0x01
+#define MD03_SPEED             0x02
+#define MD03_ACCELERATION      0x03
+#define MD03_TEMPERATURE       0x04
+#define MD03_MOTOR_CURRENT     0x05
+#define MD03_SOFTWARE_REV      0x07
+/*
+ * list of command that can be sent to command register
+ */
+#define MD03_CMD_STOP       0x00
+#define MD03_CMD_FORWARD    0x01
+#define MD03_CMD_REVERSE    0x02
+
+class MD03 {
+public:
+     MD03(PinName sda, PinName scl, int i2cAddress);
+     
+     void set_speed(int speed);
+     void set_accel(int acceleration);
+     void stop(void);
+     void move_forward(void);
+     void move_reverse(void);
+     char read_reg(int register);
+     
+protected:
+//     I2C &_i2c;
+    I2C _i2c;
+     char address;
+     char _writeOpcode, _readOpcode;
+ };
+ 
+ #endif
+ 
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