ZumoControl.h

00001 /* mbed Zumo motor control Library
00002  * Copyright (c) 2010-2013 jksoft
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #ifndef ZUMOCONTROL_H
00024 #define ZUMOCONTROL_H
00025 
00026 #include "mbed.h"
00027 
00028 #define PERIOD            100.0f     // Hz
00029 #define MINPULSWIDTH     1000.0f    // us
00030 
00031 /** Zumo motor control class
00032  *
00033  * Example:
00034  * @code
00035  * // Drive the Zumo forward, turn left, back, turn right, at half speed for half a second
00036 
00037    #include "mbed.h"
00038    #include "ZumoControl.h"
00039 
00040    ZumoControl zumo_ctrl;
00041 
00042    int main() {
00043 
00044      wait(0.5);
00045 
00046      zumo_ctrl.forward(0.5);
00047      wait (0.5);
00048      zumo_ctrl.left(0.5);
00049      wait (0.5);
00050      zumo_ctrl.backward(0.5);
00051      wait (0.5);
00052      zumo_ctrl.right(0.5);
00053      wait (0.5);
00054 
00055      zumo_ctrl.stop();
00056 
00057  }
00058  * @endcode
00059  */
00060 class ZumoControl {
00061 
00062     // Public functions
00063 public:
00064 
00065     /** Create the Zumo object connected to the default pins
00066      *
00067      * @param rc GPIO pin used for Right motor control. Default is PTC9
00068      * @param rp GPIO pin used for Right motor PWM. Default is PTD5
00069      * @param lc GPIO pin used for Left motor control. Default is PTA13
00070      * @param lp GPIO pin used for Left motor PWM. Default is PTD0
00071      */
00072     ZumoControl();
00073 
00074 
00075     /** Create the Zumo object connected to specific pins
00076      *
00077      */
00078     ZumoControl(PinName rc,PinName rp,PinName lc,PinName lp);
00079 
00080     /** Directly control the speed and direction of the left motor
00081      *
00082      * @param speed A normalised number -1.0 - 1.0 represents the full range.
00083      */
00084     void left_motor (float speed);
00085 
00086     /** Directly control the speed and direction of the right motor
00087      *
00088      * @param speed A normalised number -1.0 - 1.0 represents the full range.
00089      */
00090     void right_motor (float speed);
00091 
00092     /** Drive both motors forward as the same speed
00093      *
00094      * @param speed A normalised number 0 - 1.0 represents the full range.
00095      */
00096     void forward (float speed);
00097 
00098     /** Drive both motors backward as the same speed
00099      *
00100      * @param speed A normalised number 0 - 1.0 represents the full range.
00101      */
00102     void backward (float speed);
00103 
00104     /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot
00105      *
00106      * @param speed A normalised number 0 - 1.0 represents the full range.
00107      */
00108     void left (float speed);
00109 
00110     /** Drive left motor forward and right motor backwards at the same speed to turn on the spot
00111      * @param speed A normalised number 0 - 1.0 represents the full range.
00112      */
00113     void right (float speed);
00114 
00115     /** Stop both motors
00116      *
00117      */
00118     void stop (void);
00119 
00120 
00121 private :
00122     
00123     void cycle(void);
00124 
00125     DigitalOut _rc;
00126     DigitalOut _rp;
00127     DigitalOut _lc;
00128     DigitalOut _lp;
00129     
00130     int pwm_set_r,pwm_set_l;
00131     int pwm_count,pwm_count_max;
00132     int value_r,value_l;
00133     
00134     Ticker _pwm;
00135 };
00136 
00137 #endif