![](/media/cache/profiles/1f47cef5e38c952f94c5d61726027439.50x50_q85.jpg)
Based on PS3_BlueUSB with reference to http://blog.goo.ne.jp/roboz80/e/10e7bf38d3a63b996ca2894e9fb5e3b6
Diff: motordriver.h
- Revision:
- 0:44619612f575
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motordriver.h Tue Jul 05 08:25:40 2011 +0000 @@ -0,0 +1,91 @@ +/*motor driver libary modified from the following libary, +* +* mbed simple H-bridge motor controller +* Copyright (c) 2007-2010, sford +* +* by Christopher Hasler. +* +* from sford's libary, +* +* 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 MBED_MOTOR_H +#define MBED_MOTOR_H + +#include "mbed.h" + +/** Interface to control a standard DC motor +* with an H-bridge using a PwmOut and 2 DigitalOuts +*/ +class Motor { + public: + +/** Create a motor control interface +* +* @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed +* @param fwd A DigitalOut, set high when the motor should go forward +* @param rev A DigitalOut, set high when the motor should go backwards +* @param set if the motor driver is able to do braking 0 false 1 true. +*/ + Motor(PinName pwm, PinName fwd, PinName rev, bool brakeable = false); + +/** Set the speed of the motor +* +* @param speed The speed of the motor as a normalised value between -1.0 and 1.0. +* @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping. +*/ + float speed(float speed); + +/** Set the the motor to coast +* +* @param void +* @return motor coasts until another instruction is recived. +*/ + + void coast(void); + +/** Set the motor to dynamicaly brake +* +* @param float 0 - 1.0 provides some control over how hard the motor brakes. +* @return duty applied to motor driver. -1 is error, motor driver can't brake. +*/ + + float stop(float duty); +/** return the current state of the motor +* +* @param void +* @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. +*/ + float state(void) const; + + protected: + mutable PwmOut _pwm; + mutable DigitalOut _fwd; + mutable DigitalOut _rev; + bool _brakeable; // cna the motor driver break + int _sign; //prevents throwing the motor from full foward to full reverse and stuff melting. + +}; + + + + + +#endif