quadcopter cufe / Mbed 2 deprecated FollowWall2

Go to goal robot with follow wall algo

Dependencies:   mbed

Motor/Motor.h@0:efef62b55c86, 2014-04-08 (annotated)

Committer:
khaledelmadawi
Date:
Tue Apr 08 13:21:17 2014 +0000
Revision:
0:efef62b55c86
Follow wall

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khaledelmadawi 0:efef62b55c86 1 /* mbed simple H-bridge motor controller
khaledelmadawi 0:efef62b55c86 2 * Copyright (c) 2007-2010, sford
khaledelmadawi 0:efef62b55c86 3 *
khaledelmadawi 0:efef62b55c86 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
khaledelmadawi 0:efef62b55c86 5 * of this software and associated documentation files (the "Software"), to deal
khaledelmadawi 0:efef62b55c86 6 * in the Software without restriction, including without limitation the rights
khaledelmadawi 0:efef62b55c86 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
khaledelmadawi 0:efef62b55c86 8 * copies of the Software, and to permit persons to whom the Software is
khaledelmadawi 0:efef62b55c86 9 * furnished to do so, subject to the following conditions:
khaledelmadawi 0:efef62b55c86 10 *
khaledelmadawi 0:efef62b55c86 11 * The above copyright notice and this permission notice shall be included in
khaledelmadawi 0:efef62b55c86 12 * all copies or substantial portions of the Software.
khaledelmadawi 0:efef62b55c86 13 *
khaledelmadawi 0:efef62b55c86 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
khaledelmadawi 0:efef62b55c86 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
khaledelmadawi 0:efef62b55c86 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
khaledelmadawi 0:efef62b55c86 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
khaledelmadawi 0:efef62b55c86 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
khaledelmadawi 0:efef62b55c86 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
khaledelmadawi 0:efef62b55c86 20 * THE SOFTWARE.
khaledelmadawi 0:efef62b55c86 21 */
khaledelmadawi 0:efef62b55c86 22
khaledelmadawi 0:efef62b55c86 23 #ifndef MBED_MOTOR_H
khaledelmadawi 0:efef62b55c86 24 #define MBED_MOTOR_H
khaledelmadawi 0:efef62b55c86 25
khaledelmadawi 0:efef62b55c86 26 #include "mbed.h"
khaledelmadawi 0:efef62b55c86 27
khaledelmadawi 0:efef62b55c86 28 #define BRAKE_HIGH 1
khaledelmadawi 0:efef62b55c86 29 #define BRAKE_LOW 0
khaledelmadawi 0:efef62b55c86 30
khaledelmadawi 0:efef62b55c86 31 /** Interface to control a standard DC motor
khaledelmadawi 0:efef62b55c86 32 * with an H-bridge using a PwmOut and 2 DigitalOuts
khaledelmadawi 0:efef62b55c86 33 */
khaledelmadawi 0:efef62b55c86 34 class Motor {
khaledelmadawi 0:efef62b55c86 35 public:
khaledelmadawi 0:efef62b55c86 36
khaledelmadawi 0:efef62b55c86 37 /** Create a motor control interface
khaledelmadawi 0:efef62b55c86 38 *
khaledelmadawi 0:efef62b55c86 39 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
khaledelmadawi 0:efef62b55c86 40 * @param fwd A DigitalOut, set high when the motor should go forward
khaledelmadawi 0:efef62b55c86 41 * @param rev A DigitalOut, set high when the motor should go backwards
khaledelmadawi 0:efef62b55c86 42 */
khaledelmadawi 0:efef62b55c86 43 Motor(PinName pwm, PinName fwd, PinName rev);
khaledelmadawi 0:efef62b55c86 44
khaledelmadawi 0:efef62b55c86 45 /** Set the speed of the motor
khaledelmadawi 0:efef62b55c86 46 *
khaledelmadawi 0:efef62b55c86 47 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
khaledelmadawi 0:efef62b55c86 48 */
khaledelmadawi 0:efef62b55c86 49 void speed(float speed);
khaledelmadawi 0:efef62b55c86 50
khaledelmadawi 0:efef62b55c86 51 /** Set the period of the pwm duty cycle.
khaledelmadawi 0:efef62b55c86 52 *
khaledelmadawi 0:efef62b55c86 53 * Wrapper for PwmOut::period()
khaledelmadawi 0:efef62b55c86 54 *
khaledelmadawi 0:efef62b55c86 55 * @param seconds - Pwm duty cycle in seconds.
khaledelmadawi 0:efef62b55c86 56 */
khaledelmadawi 0:efef62b55c86 57 void period(float period);
khaledelmadawi 0:efef62b55c86 58
khaledelmadawi 0:efef62b55c86 59 /** Brake the H-bridge to GND or VCC.
khaledelmadawi 0:efef62b55c86 60 *
khaledelmadawi 0:efef62b55c86 61 * Defaults to breaking to VCC.
khaledelmadawi 0:efef62b55c86 62 *
khaledelmadawi 0:efef62b55c86 63 * Brake to GND => inA = inB = 0
khaledelmadawi 0:efef62b55c86 64 * Brake to VCC => inA = inB = 1
khaledelmadawi 0:efef62b55c86 65 */
khaledelmadawi 0:efef62b55c86 66 void brake(int highLow = BRAKE_HIGH);
khaledelmadawi 0:efef62b55c86 67
khaledelmadawi 0:efef62b55c86 68 protected:
khaledelmadawi 0:efef62b55c86 69 PwmOut _pwm;
khaledelmadawi 0:efef62b55c86 70 DigitalOut _fwd;
khaledelmadawi 0:efef62b55c86 71 DigitalOut _rev;
khaledelmadawi 0:efef62b55c86 72
khaledelmadawi 0:efef62b55c86 73 };
khaledelmadawi 0:efef62b55c86 74
khaledelmadawi 0:efef62b55c86 75 #endif