Diff: ArduinoMotorShield.cpp

Revision:

0:27f8679b31e5

Child:

1:b6bd7c434ab5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ArduinoMotorShield.cpp	Wed Feb 12 22:56:17 2014 +0000
@@ -0,0 +1,99 @@
+/** 
+
+Copyright 2014 John Bailey
+   
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+*/
+
+#include "ArduinoMotorShield.hpp"
+
+#if defined TARGET_KL46Z
+
+/* This assumes the presence of the cross-wiring on PWM B 
+   (see "Issues" at http://mbed.org/users/johnb/notebook/mutt-mbed-enabled-robot-vehicle/ )
+*/
+#define MOTOR_A_PWM_PIN     PTA12
+#define MOTOR_B_PWM_PIN     PTA5
+
+#define MOTOR_A_BRAKE_PIN   PTD2
+#define MOTOR_B_BRAKE_PIN   PTA13
+
+#define MOTOR_A_CURRENT_PIN PTB0
+#define MOTOR_B_CURRENT_PIN PTB1
+
+#define MOTOR_A_DIR_PIN     PTD7
+#define MOTOR_B_DIR_PIN     PTD5
+
+#else
+
+"Error Message: This target's not currently supported!  Please look in ArduinoMotorShield.cpp to add."
+
+#endif
+
+ArduinoMotorShield::ArduinoMotorShield() : m_a_motorControl  ( MOTOR_A_PWM_PIN ),     m_b_motorControl  ( MOTOR_B_PWM_PIN ),
+                                           m_a_brake         ( MOTOR_A_BRAKE_PIN ),   m_b_brake         ( MOTOR_B_BRAKE_PIN ),
+                                           m_a_motorCurrent  ( MOTOR_A_CURRENT_PIN ), m_b_motorCurrent  ( MOTOR_B_CURRENT_PIN ),
+                                           m_a_motorDirection( MOTOR_A_DIR_PIN ),     m_b_motorDirection( MOTOR_B_DIR_PIN )
+{
+    m_motorControl[ MOTOR_A ]   = &m_a_motorControl;
+    m_motorControl[ MOTOR_B ]   = &m_b_motorControl;
+    m_brake[ MOTOR_A ]          = &m_a_brake;
+    m_brake[ MOTOR_B ]          = &m_b_brake;
+    m_motorCurrent[ MOTOR_A ]   = &m_a_motorCurrent;
+    m_motorCurrent[ MOTOR_B ]   = &m_b_motorCurrent;
+    m_motorDirection[ MOTOR_A ] = &m_a_motorDirection;
+    m_motorDirection[ MOTOR_B ] = &m_b_motorDirection;
+    m_speed[ MOTOR_A ]          = 0;
+    m_speed[ MOTOR_B ]          = 0;
+    m_motorForward[ MOTOR_A ]   = 0;
+    m_motorForward[ MOTOR_B ]   = 0;
+}
+
+void ArduinoMotorShield::SetMotorPower( const Motor_e p_motor, const float p_speed, bool p_force )
+{
+    if( p_force || ( p_speed != m_speed[ p_motor ] ))
+    {
+        m_speed[ p_motor ] = p_speed;
+        
+        if( m_speed[ p_motor ] > 0.0f )
+        {
+            *(m_motorDirection[ p_motor ]) = m_motorForward[ p_motor ];
+        } else {
+            *(m_motorDirection[ p_motor ]) = !m_motorForward[ p_motor ];            
+        }
+        
+        (m_motorControl[p_motor])->write( fabs( p_speed ) );        
+    }
+}
+
+float ArduinoMotorShield::GetMotorCurrent( const Motor_e p_motor )
+{
+    /* AnalogIn returns 0..1.  The feedback from the current monitor is 0V = 0A, vref = MAX */
+    return( *(m_motorCurrent[ p_motor ]) * MOTOR_MAX_CURRENT );
+}
+
+void ArduinoMotorShield::SetBrake( const Motor_e p_motor, bool p_enable )
+{
+    *(m_brake[ p_motor ]) = p_enable;
+}
+
+void ArduinoMotorShield::SetMotorPolarity( const Motor_e p_motor, const MotorDirection_e p_dir )
+{
+    if( m_motorForward[ p_motor ] != p_dir )
+    {
+        m_motorForward[ p_motor ] = p_dir;
+        /* Reset the motor control to take into account the revised direction */
+        SetMotorPower( p_motor, m_speed[ p_motor ], true );
+    }
+}
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