quadcopter cufe / Mbed 2 deprecated FollowWall

follow wall 1

Dependencies:   mbed

Motor/Motor.h@0:b703833f6795, 2014-04-08 (annotated)

Committer:
khaledelmadawi
Date:
Tue Apr 08 13:23:06 2014 +0000
Revision:
0:b703833f6795
follow wall 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khaledelmadawi 0:b703833f6795 1 /* mbed simple H-bridge motor controller
khaledelmadawi 0:b703833f6795 2 * Copyright (c) 2007-2010, sford
khaledelmadawi 0:b703833f6795 3 *
khaledelmadawi 0:b703833f6795 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
khaledelmadawi 0:b703833f6795 5 * of this software and associated documentation files (the "Software"), to deal
khaledelmadawi 0:b703833f6795 6 * in the Software without restriction, including without limitation the rights
khaledelmadawi 0:b703833f6795 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
khaledelmadawi 0:b703833f6795 8 * copies of the Software, and to permit persons to whom the Software is
khaledelmadawi 0:b703833f6795 9 * furnished to do so, subject to the following conditions:
khaledelmadawi 0:b703833f6795 10 *
khaledelmadawi 0:b703833f6795 11 * The above copyright notice and this permission notice shall be included in
khaledelmadawi 0:b703833f6795 12 * all copies or substantial portions of the Software.
khaledelmadawi 0:b703833f6795 13 *
khaledelmadawi 0:b703833f6795 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
khaledelmadawi 0:b703833f6795 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
khaledelmadawi 0:b703833f6795 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
khaledelmadawi 0:b703833f6795 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
khaledelmadawi 0:b703833f6795 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
khaledelmadawi 0:b703833f6795 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
khaledelmadawi 0:b703833f6795 20 * THE SOFTWARE.
khaledelmadawi 0:b703833f6795 21 */
khaledelmadawi 0:b703833f6795 22
khaledelmadawi 0:b703833f6795 23 #ifndef MBED_MOTOR_H
khaledelmadawi 0:b703833f6795 24 #define MBED_MOTOR_H
khaledelmadawi 0:b703833f6795 25
khaledelmadawi 0:b703833f6795 26 #include "mbed.h"
khaledelmadawi 0:b703833f6795 27
khaledelmadawi 0:b703833f6795 28 #define BRAKE_HIGH 1
khaledelmadawi 0:b703833f6795 29 #define BRAKE_LOW 0
khaledelmadawi 0:b703833f6795 30
khaledelmadawi 0:b703833f6795 31 /** Interface to control a standard DC motor
khaledelmadawi 0:b703833f6795 32 * with an H-bridge using a PwmOut and 2 DigitalOuts
khaledelmadawi 0:b703833f6795 33 */
khaledelmadawi 0:b703833f6795 34 class Motor {
khaledelmadawi 0:b703833f6795 35 public:
khaledelmadawi 0:b703833f6795 36
khaledelmadawi 0:b703833f6795 37 /** Create a motor control interface
khaledelmadawi 0:b703833f6795 38 *
khaledelmadawi 0:b703833f6795 39 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
khaledelmadawi 0:b703833f6795 40 * @param fwd A DigitalOut, set high when the motor should go forward
khaledelmadawi 0:b703833f6795 41 * @param rev A DigitalOut, set high when the motor should go backwards
khaledelmadawi 0:b703833f6795 42 */
khaledelmadawi 0:b703833f6795 43 Motor(PinName pwm, PinName fwd, PinName rev);
khaledelmadawi 0:b703833f6795 44
khaledelmadawi 0:b703833f6795 45 /** Set the speed of the motor
khaledelmadawi 0:b703833f6795 46 *
khaledelmadawi 0:b703833f6795 47 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
khaledelmadawi 0:b703833f6795 48 */
khaledelmadawi 0:b703833f6795 49 void speed(float speed);
khaledelmadawi 0:b703833f6795 50
khaledelmadawi 0:b703833f6795 51 /** Set the period of the pwm duty cycle.
khaledelmadawi 0:b703833f6795 52 *
khaledelmadawi 0:b703833f6795 53 * Wrapper for PwmOut::period()
khaledelmadawi 0:b703833f6795 54 *
khaledelmadawi 0:b703833f6795 55 * @param seconds - Pwm duty cycle in seconds.
khaledelmadawi 0:b703833f6795 56 */
khaledelmadawi 0:b703833f6795 57 void period(float period);
khaledelmadawi 0:b703833f6795 58
khaledelmadawi 0:b703833f6795 59 /** Brake the H-bridge to GND or VCC.
khaledelmadawi 0:b703833f6795 60 *
khaledelmadawi 0:b703833f6795 61 * Defaults to breaking to VCC.
khaledelmadawi 0:b703833f6795 62 *
khaledelmadawi 0:b703833f6795 63 * Brake to GND => inA = inB = 0
khaledelmadawi 0:b703833f6795 64 * Brake to VCC => inA = inB = 1
khaledelmadawi 0:b703833f6795 65 */
khaledelmadawi 0:b703833f6795 66 void brake(int highLow = BRAKE_HIGH);
khaledelmadawi 0:b703833f6795 67
khaledelmadawi 0:b703833f6795 68 protected:
khaledelmadawi 0:b703833f6795 69 PwmOut _pwm;
khaledelmadawi 0:b703833f6795 70 DigitalOut _fwd;
khaledelmadawi 0:b703833f6795 71 DigitalOut _rev;
khaledelmadawi 0:b703833f6795 72
khaledelmadawi 0:b703833f6795 73 };
khaledelmadawi 0:b703833f6795 74
khaledelmadawi 0:b703833f6795 75 #endif