Revision 0:da217aaa04ef, committed 2013-07-09

Comitter:

jksoft_mbed

Date:

Tue Jul 09 12:43:08 2013 +0000

Commit message:

??

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ZumoControl.cpp	Tue Jul 09 12:43:08 2013 +0000
@@ -0,0 +1,130 @@
+/* Zumo motor control Library
+ *
+ * Copyright (c) 2010-2013 jksoft
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "ZumoControl.h"
+
+ZumoControl::ZumoControl(PinName rc,PinName rp,PinName lc,PinName lp) : _rc(rc),_rp(rp),_lc(lc),_lp(lp)  {
+    _pwm.attach_us( this  , &ZumoControl::cycle , MINPULSWIDTH );
+    pwm_count = 0;
+    pwm_count_max = (int)(1000000.0f/(PERIOD*MINPULSWIDTH));
+    
+    pwm_set_r = 0;
+    pwm_set_l = 0;
+    
+    value_r = 0;
+    value_l = 0;
+}
+
+ZumoControl::ZumoControl() : _rc(PTC9),_rp(PTD5),_lc(PTA13),_lp(PTD0)  {
+    _pwm.attach_us( this  , &ZumoControl::cycle , MINPULSWIDTH );
+    pwm_count = 0;
+    pwm_count_max = (int)(1000000.0f/(PERIOD*MINPULSWIDTH));
+    
+    pwm_set_r = 0;
+    pwm_set_l = 0;
+    
+    value_r = 0;
+    value_l = 0;
+}
+
+void ZumoControl::cycle(void)
+{
+    pwm_count++;
+    
+    if( pwm_count >= pwm_count_max )
+    {
+        pwm_count = 0;
+        value_r = 1;
+        value_l = 1;
+    }
+    
+    if(pwm_count >= pwm_set_r )
+    {
+        value_r = 0;
+    }
+    if(pwm_count >= pwm_set_l )
+    {
+        value_l = 0;
+    }
+    
+    _rp = value_r;
+    _lp = value_l;
+}
+
+void ZumoControl::left_motor (float speed) {
+    if( speed > 0 )
+    {
+        _lc = 0;
+    }
+    else
+    {
+        _lc = 1;
+    }
+    pwm_set_l = (int)((abs(speed) * 10.0)+0.5);
+}
+
+void ZumoControl::right_motor (float speed) {
+    if( speed > 0 )
+    {
+        _rc = 1;
+    }
+    else
+    {
+        _rc = 0;
+    }
+    pwm_set_r = (int)((abs(speed) * 10.0)+0.5);
+}
+
+void ZumoControl::forward (float speed) {
+    _lc = 0;
+    _rc = 1;
+    pwm_set_l = (int)((speed * 10.0)+0.5);
+    pwm_set_r = (int)((speed * 10.0)+0.5);
+}
+
+void ZumoControl::backward (float speed) {
+    _lc = 1;
+    _rc = 0;
+    pwm_set_l = (int)((speed * 10.0)+0.5);
+    pwm_set_r = (int)((speed * 10.0)+0.5);
+}
+
+void ZumoControl::left (float speed) {
+    _lc = 1;
+    _rc = 1;
+    pwm_set_l = (int)((speed * 10.0)+0.5);
+    pwm_set_r = (int)((speed * 10.0)+0.5);
+}
+
+void ZumoControl::right (float speed) {
+    _lc = 0;
+    _rc = 0;
+    pwm_set_l = (int)((speed * 10.0)+0.5);
+    pwm_set_r = (int)((speed * 10.0)+0.5);
+}
+
+void ZumoControl::stop (void) {
+    pwm_set_l = 0;
+    pwm_set_r = 0;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ZumoControl.h	Tue Jul 09 12:43:08 2013 +0000
@@ -0,0 +1,137 @@
+/* mbed Zumo motor control Library
+ * Copyright (c) 2010-2013 jksoft
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef ZUMOCONTROL_H
+#define ZUMOCONTROL_H
+
+#include "mbed.h"
+
+#define PERIOD            100.0f     // Hz
+#define MINPULSWIDTH     1000.0f    // us
+
+/** Zumo motor control class
+ *
+ * Example:
+ * @code
+ * // Drive the Zumo forward, turn left, back, turn right, at half speed for half a second
+
+   #include "mbed.h"
+   #include "ZumoControl.h"
+
+   ZumoControl zumo_ctrl;
+
+   int main() {
+
+     wait(0.5);
+
+     zumo_ctrl.forward(0.5);
+     wait (0.5);
+     zumo_ctrl.left(0.5);
+     wait (0.5);
+     zumo_ctrl.backward(0.5);
+     wait (0.5);
+     zumo_ctrl.right(0.5);
+     wait (0.5);
+
+     zumo_ctrl.stop();
+
+ }
+ * @endcode
+ */
+class ZumoControl {
+
+    // Public functions
+public:
+
+    /** Create the Zumo object connected to the default pins
+     *
+     * @param rc GPIO pin used for Right motor control. Default is PTC9
+     * @param rp GPIO pin used for Right motor PWM. Default is PTD5
+     * @param lc GPIO pin used for Left motor control. Default is PTA13
+     * @param lp GPIO pin used for Left motor PWM. Default is PTD0
+     */
+    ZumoControl();
+
+
+    /** Create the Zumo object connected to specific pins
+     *
+     */
+    ZumoControl(PinName rc,PinName rp,PinName lc,PinName lp);
+
+    /** Directly control the speed and direction of the left motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void left_motor (float speed);
+
+    /** Directly control the speed and direction of the right motor
+     *
+     * @param speed A normalised number -1.0 - 1.0 represents the full range.
+     */
+    void right_motor (float speed);
+
+    /** Drive both motors forward as the same speed
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void forward (float speed);
+
+    /** Drive both motors backward as the same speed
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void backward (float speed);
+
+    /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
+     *
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void left (float speed);
+
+    /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
+     * @param speed A normalised number 0 - 1.0 represents the full range.
+     */
+    void right (float speed);
+
+    /** Stop both motors
+     *
+     */
+    void stop (void);
+
+
+private :
+    
+    void cycle(void);
+
+    DigitalOut _rc;
+    DigitalOut _rp;
+    DigitalOut _lc;
+    DigitalOut _lp;
+    
+    int pwm_set_r,pwm_set_l;
+    int pwm_count,pwm_count_max;
+    int value_r,value_l;
+    
+    Ticker _pwm;
+};
+
+#endif
\ No newline at end of file