Thin wrapper around the pins used to control the Arduino motor shield
Dependents: MUTTv1 ProvaMotoreSeriale SerialComLED motore2 ... more
For an example of using this library, see MUTTv1:
Import programMUTTv1
First (and very, very simple) controller program for the MUTT. See http://mbed.org/users/johnb/notebook/mutt-mbed-enabled-robot-vehicle/
Diff: ArduinoMotorShield.hpp
- Revision:
- 0:27f8679b31e5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ArduinoMotorShield.hpp Wed Feb 12 22:56:17 2014 +0000 @@ -0,0 +1,129 @@ +/** + @file + @brief Class to abstract the interface to an Arduino Motor Shield R3 + See http://arduino.cc/en/Main/ArduinoMotorShieldR3 + + @author John Bailey + + @copyright Copyright 2014 John Bailey + + @section LICENSE + +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. + +*/ + +#if !defined ARDUINOMOTORSHIELD_HPP +#define ARDUINOMOTORSHIELD_HPP + +#include "mbed.h" +#include <stdint.h> + +/** Class to abstract the interface to an Arduino Motor Shield R3 + See http://arduino.cc/en/Main/ArduinoMotorShieldR3 + + This class is a pretty thin wrapper around the analog inputs and + digital outputs which interface to the motor drives + + Currently supports: + TARGET_KL46Z - Assumes the presence of the cross-wiring on PWM B + (see "Issues" at http://mbed.org/users/johnb/notebook/mutt-mbed-enabled-robot-vehicle/ ) + + @todo Support for bipolar stepper motor + @todo Support for other targets +*/ +class ArduinoMotorShield +{ + public: + + typedef enum + { + MOTOR_FORWARD = 0, + MOTOR_BACKWARD = 1 + } MotorDirection_e; + + /** Enumeration to distinguish between the motors connected to the shield */ + typedef enum + { + /* Motor 'A' */ + MOTOR_A = 0, + /* Motor 'A' */ + MOTOR_B = 1 + } Motor_e; + + protected: + /** Maximum number of motors which can be connected to the shield */ + static const uint8_t MOTOR_DRIVE_COUNT = 2U; + + /** Maximum current (per motor drive) supported by the shield */ + static const uint8_t MOTOR_MAX_CURRENT = 2U; + + PwmOut m_a_motorControl; + PwmOut m_b_motorControl; + DigitalOut m_a_brake; + DigitalOut m_b_brake; + AnalogIn m_a_motorCurrent; + AnalogIn m_b_motorCurrent; + DigitalOut m_a_motorDirection; + DigitalOut m_b_motorDirection; + + PwmOut *m_motorControl[ MOTOR_DRIVE_COUNT ]; + DigitalOut *m_brake[ MOTOR_DRIVE_COUNT ]; + AnalogIn *m_motorCurrent[ MOTOR_DRIVE_COUNT ]; + DigitalOut *m_motorDirection[ MOTOR_DRIVE_COUNT ]; + + float m_speed[ MOTOR_DRIVE_COUNT ]; + bool m_motorForward[ MOTOR_DRIVE_COUNT ]; + public: + + /** Constructor */ + ArduinoMotorShield(); + + /** Set the motor power (and direction) for the specified motor + + \param p_motor Use this parameter to specify which motor to set the power on + \param p_speed Set the power of the motor, ranging from -1 (full power, reverse direction) to + +1 (full power, forward direction) + */ + void SetMotorPower( const Motor_e p_motor, const float p_speed, bool p_force = false ); + + /** Retrieve the current being consumed by the specified motor + \param p_motor The motor to retrieve the current for + */ + float GetMotorCurrent( const Motor_e p_motor ); + + /** Enable or disable the brake on the specified motor. In the case that the braking + option is enabled then (when appropriate) the shield will actively brake the motor + rather than allowing it to coast down + + \param p_motor The motor to set the brake option for + \param p_enable Specify whether braking should be enabled or disabled */ + void SetBrake( const Motor_e p_motor, bool p_enable ); + + /** Set the virtual 'polarity' of a motor. This allows you to swap the meaning of "forward" + with respect to the SetMotorPower() method. For example: + + shield.SetMotorPolarity( MOTOR_A, MOTOR_FORWARD ); + shield.SetMotorPower( MOTOR_A, 1.0F ); + // This call will cause the motor to change direction ! + shield.SetMotorPolarity( MOTOR_A, MOTOR_BACKWARD ); + // No further change is caused by this call + shield.SetMotorPower( MOTOR_A, 1.0F ); + + \param p_motor The motor to change the direction setting for + \param p_dir The direction which "forward" should map to. + */ + void SetMotorPolarity( const Motor_e p_motor, const MotorDirection_e p_dir ); +}; + +#endif // !defined ARDUINOMOTORSHIELD_HPP \ No newline at end of file