Simon Krogedal / Lift_arm_control

Control project for the Lift-arm. Works with ROS Melodic

Dependencies:   mbed Servo ros_lib_melodic ULN2003_StepperDriver Async_4pin_Stepper

src/motor.cpp@4:9edb248c6431, 2021-05-31 (annotated)

Committer:
krogedal
Date:
Mon May 31 16:47:02 2021 +0000
Revision:
4:9edb248c6431
Parent:
0:441289ea4e29 
Updated to work with ROS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krogedal 0:441289ea4e29 1 /* Karbot motor class
krogedal 0:441289ea4e29 2 * Written by Simon Krogedal
krogedal 0:441289ea4e29 3 * 27/05/21
krogedal 0:441289ea4e29 4 * Team 9 4th Year project
krogedal 0:441289ea4e29 5 *
krogedal 0:441289ea4e29 6 * for NUCLEO-F401RE
krogedal 0:441289ea4e29 7 *
krogedal 0:441289ea4e29 8 */
krogedal 0:441289ea4e29 9
krogedal 0:441289ea4e29 10
krogedal 0:441289ea4e29 11 #include "mbed.h"
krogedal 0:441289ea4e29 12 #include "motor.h"
krogedal 0:441289ea4e29 13
krogedal 0:441289ea4e29 14 motor::motor(PinName pwm_pin, PinName dir_pin, double period) : output(pwm_pin), dir(dir_pin), T(period) {
krogedal 0:441289ea4e29 15 output.period(T); //this period is not going to change during the run
krogedal 0:441289ea4e29 16 dir = 1; //forward is active high
krogedal 0:441289ea4e29 17 dutCyc = 0.1; //just need a default value to avoid bugs
krogedal 0:441289ea4e29 18 stop(); //starts off
krogedal 0:441289ea4e29 19 }
krogedal 0:441289ea4e29 20
krogedal 0:441289ea4e29 21 void motor::drive(void) {
krogedal 0:441289ea4e29 22 driving = 1;
krogedal 0:441289ea4e29 23 output.write(dutCyc);
krogedal 0:441289ea4e29 24 }
krogedal 0:441289ea4e29 25
krogedal 0:441289ea4e29 26 void motor::stop(void) {
krogedal 0:441289ea4e29 27 driving = 0;
krogedal 0:441289ea4e29 28 output.write(0.0); //just constant low
krogedal 0:441289ea4e29 29 }
krogedal 0:441289ea4e29 30
krogedal 0:441289ea4e29 31 void motor::setOut(double dc) { //set duty cycle as a number between -1 and 1, where 1 is full force forward, -1 is backwards and 0 is still
krogedal 0:441289ea4e29 32 if(dc < 0.0) {
krogedal 0:441289ea4e29 33 dir = 0;
krogedal 0:441289ea4e29 34 if(dc < -1.0)
krogedal 0:441289ea4e29 35 dutCyc = 1.0;
krogedal 0:441289ea4e29 36 else
krogedal 0:441289ea4e29 37 dutCyc = -dc;
krogedal 0:441289ea4e29 38 }
krogedal 0:441289ea4e29 39 else {
krogedal 0:441289ea4e29 40 dir = 1;
krogedal 0:441289ea4e29 41 if(dc > 1.0)
krogedal 0:441289ea4e29 42 dutCyc = 1.0;
krogedal 0:441289ea4e29 43 else
krogedal 0:441289ea4e29 44 dutCyc = dc;
krogedal 0:441289ea4e29 45 }
krogedal 0:441289ea4e29 46 if(driving)
krogedal 0:441289ea4e29 47 output.write(dutCyc);
krogedal 0:441289ea4e29 48 }
krogedal 0:441289ea4e29 49
krogedal 0:441289ea4e29 50 double motor::getPeriod(void) {return T;}
krogedal 0:441289ea4e29 51
krogedal 0:441289ea4e29 52 double motor::getDuty(void) {return dutCyc;}
krogedal 0:441289ea4e29 53