Christopher Hasler
motor drive libary to use speed control, coasting and dynamic braking. NOTE, dynamic braking my result in large currents. this may or may not set the motor driver on fire/break it/other undesired effects. so read the data sheet folks.
Dependents: motordrivertestprogram Initialmbedrobotprogram mbedrobot ipod ... more
motordriver.cpp@3:8822f4955035, 2010-11-19 (annotated)
- Committer:
- littlexc
- Date:
- Fri Nov 19 12:33:38 2010 +0000
- Revision:
- 3:8822f4955035
- Parent:
- 2:2dc873322032
- Child:
- 4:5fb1296c0d60
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| littlexc | 1:3da7302dc9ae | 1 | /*motor driver libary modified from the following libary, |
| littlexc | 1:3da7302dc9ae | 2 | * |
| littlexc | 1:3da7302dc9ae | 3 | * mbed simple H-bridge motor controller |
| littlexc | 1:3da7302dc9ae | 4 | * Copyright (c) 2007-2010, sford |
| littlexc | 1:3da7302dc9ae | 5 | * |
| littlexc | 1:3da7302dc9ae | 6 | * by Christopher Hasler. |
| littlexc | 1:3da7302dc9ae | 7 | * |
| littlexc | 1:3da7302dc9ae | 8 | * from sford's libary, |
| littlexc | 1:3da7302dc9ae | 9 | * |
| littlexc | 1:3da7302dc9ae | 10 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| littlexc | 1:3da7302dc9ae | 11 | * of this software and associated documentation files (the "Software"), to deal |
| littlexc | 1:3da7302dc9ae | 12 | * in the Software without restriction, including without limitation the rights |
| littlexc | 1:3da7302dc9ae | 13 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| littlexc | 1:3da7302dc9ae | 14 | * copies of the Software, and to permit persons to whom the Software is |
| littlexc | 1:3da7302dc9ae | 15 | * furnished to do so, subject to the following conditions: |
| littlexc | 1:3da7302dc9ae | 16 | * |
| littlexc | 1:3da7302dc9ae | 17 | * The above copyright notice and this permission notice shall be included in |
| littlexc | 1:3da7302dc9ae | 18 | * all copies or substantial portions of the Software. |
| littlexc | 1:3da7302dc9ae | 19 | * |
| littlexc | 1:3da7302dc9ae | 20 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| littlexc | 1:3da7302dc9ae | 21 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| littlexc | 1:3da7302dc9ae | 22 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| littlexc | 1:3da7302dc9ae | 23 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| littlexc | 1:3da7302dc9ae | 24 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| littlexc | 1:3da7302dc9ae | 25 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| littlexc | 1:3da7302dc9ae | 26 | * THE SOFTWARE. |
| littlexc | 1:3da7302dc9ae | 27 | */ |
| littlexc | 0:edc152f119b7 | 28 | |
| littlexc | 0:edc152f119b7 | 29 | #include "motordriver.h" |
| littlexc | 1:3da7302dc9ae | 30 | |
| littlexc | 0:edc152f119b7 | 31 | #include "mbed.h" |
| littlexc | 1:3da7302dc9ae | 32 | |
| littlexc | 0:edc152f119b7 | 33 | Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable): |
| littlexc | 0:edc152f119b7 | 34 | _pwm(pwm), _fwd(fwd), _rev(rev) { |
| littlexc | 0:edc152f119b7 | 35 | |
| littlexc | 0:edc152f119b7 | 36 | // Set initial condition of PWM |
| littlexc | 0:edc152f119b7 | 37 | _pwm.period(0.001); |
| littlexc | 0:edc152f119b7 | 38 | _pwm = 0; |
| littlexc | 0:edc152f119b7 | 39 | |
| littlexc | 0:edc152f119b7 | 40 | // Initial condition of output enables |
| littlexc | 0:edc152f119b7 | 41 | _fwd = 0; |
| littlexc | 0:edc152f119b7 | 42 | _rev = 0; |
| littlexc | 1:3da7302dc9ae | 43 | |
| littlexc | 0:edc152f119b7 | 44 | //set if the motor dirver is capable of braking. (addition) |
| littlexc | 0:edc152f119b7 | 45 | Brakeable= brakeable; |
| littlexc | 1:3da7302dc9ae | 46 | sign = 0;//i.e nothing. |
| littlexc | 0:edc152f119b7 | 47 | } |
| littlexc | 1:3da7302dc9ae | 48 | |
| littlexc | 2:2dc873322032 | 49 | float Motor::speed(float speed) { |
| littlexc | 2:2dc873322032 | 50 | float temp = 0; |
| littlexc | 1:3da7302dc9ae | 51 | if (sign == 0) { |
| littlexc | 1:3da7302dc9ae | 52 | _fwd = (speed > 0.0); |
| littlexc | 1:3da7302dc9ae | 53 | _rev = (speed < 0.0); |
| littlexc | 2:2dc873322032 | 54 | temp = abs(speed); |
| littlexc | 2:2dc873322032 | 55 | _pwm = temp; |
| littlexc | 1:3da7302dc9ae | 56 | } else if (sign == 1) { |
| littlexc | 1:3da7302dc9ae | 57 | if (speed < 0) { |
| littlexc | 1:3da7302dc9ae | 58 | _fwd = (speed > 0.0); |
| littlexc | 1:3da7302dc9ae | 59 | _rev = (speed < 0.0); |
| littlexc | 1:3da7302dc9ae | 60 | _pwm = 0; |
| littlexc | 2:2dc873322032 | 61 | temp = 0; |
| littlexc | 1:3da7302dc9ae | 62 | } else { |
| littlexc | 1:3da7302dc9ae | 63 | _fwd = (speed > 0.0); |
| littlexc | 1:3da7302dc9ae | 64 | _rev = (speed < 0.0); |
| littlexc | 2:2dc873322032 | 65 | temp = abs(speed); |
| littlexc | 2:2dc873322032 | 66 | _pwm = temp; |
| littlexc | 1:3da7302dc9ae | 67 | } |
| littlexc | 1:3da7302dc9ae | 68 | } else if (sign == -1) { |
| littlexc | 1:3da7302dc9ae | 69 | if (speed > 0) { |
| littlexc | 1:3da7302dc9ae | 70 | _fwd = (speed > 0.0); |
| littlexc | 1:3da7302dc9ae | 71 | _rev = (speed < 0.0); |
| littlexc | 1:3da7302dc9ae | 72 | _pwm = 0; |
| littlexc | 2:2dc873322032 | 73 | temp = 0; |
| littlexc | 1:3da7302dc9ae | 74 | } else { |
| littlexc | 1:3da7302dc9ae | 75 | _fwd = (speed > 0.0); |
| littlexc | 1:3da7302dc9ae | 76 | _rev = (speed < 0.0); |
| littlexc | 2:2dc873322032 | 77 | temp = abs(speed); |
| littlexc | 2:2dc873322032 | 78 | _pwm = temp; |
| littlexc | 1:3da7302dc9ae | 79 | } |
| littlexc | 1:3da7302dc9ae | 80 | } |
| littlexc | 1:3da7302dc9ae | 81 | if (speed > 0) |
| littlexc | 1:3da7302dc9ae | 82 | sign = 1; |
| littlexc | 1:3da7302dc9ae | 83 | else if (speed < 0) { |
| littlexc | 1:3da7302dc9ae | 84 | sign = -1; |
| littlexc | 1:3da7302dc9ae | 85 | } else if (speed == 0) { |
| littlexc | 1:3da7302dc9ae | 86 | sign = 0; |
| littlexc | 1:3da7302dc9ae | 87 | } |
| littlexc | 2:2dc873322032 | 88 | return temp; |
| littlexc | 0:edc152f119b7 | 89 | } |
| littlexc | 0:edc152f119b7 | 90 | // (additions) |
| littlexc | 0:edc152f119b7 | 91 | void Motor::coast(void) { |
| littlexc | 0:edc152f119b7 | 92 | _fwd = 0; |
| littlexc | 0:edc152f119b7 | 93 | _rev = 0; |
| littlexc | 0:edc152f119b7 | 94 | _pwm = 0; |
| littlexc | 1:3da7302dc9ae | 95 | sign = 0; |
| littlexc | 0:edc152f119b7 | 96 | } |
| littlexc | 0:edc152f119b7 | 97 | |
| littlexc | 2:2dc873322032 | 98 | float Motor::stop(float duty) { |
| littlexc | 0:edc152f119b7 | 99 | if (Brakeable == 1) { |
| littlexc | 0:edc152f119b7 | 100 | _fwd = 1; |
| littlexc | 0:edc152f119b7 | 101 | _rev = 1; |
| littlexc | 2:2dc873322032 | 102 | _pwm = duty; |
| littlexc | 1:3da7302dc9ae | 103 | sign = 0; |
| littlexc | 2:2dc873322032 | 104 | return duty; |
| littlexc | 1:3da7302dc9ae | 105 | } else |
| littlexc | 3:8822f4955035 | 106 | return -1; |
| littlexc | 0:edc152f119b7 | 107 | } |
| littlexc | 1:3da7302dc9ae | 108 | |
| littlexc | 0:edc152f119b7 | 109 | /* |
| littlexc | 0:edc152f119b7 | 110 | test code, this demonstrates working motor drivers. |
| littlexc | 1:3da7302dc9ae | 111 | |
| littlexc | 1:3da7302dc9ae | 112 | Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break |
| littlexc | 0:edc152f119b7 | 113 | Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break |
| littlexc | 0:edc152f119b7 | 114 | int main() { |
| littlexc | 0:edc152f119b7 | 115 | for (float s=-1.0; s < 1.0 ; s += 0.01) { |
| littlexc | 1:3da7302dc9ae | 116 | A.speed(s); |
| littlexc | 1:3da7302dc9ae | 117 | B.speed(s); |
| littlexc | 0:edc152f119b7 | 118 | wait(0.02); |
| littlexc | 0:edc152f119b7 | 119 | } |
| littlexc | 0:edc152f119b7 | 120 | A.stop(); |
| littlexc | 0:edc152f119b7 | 121 | B.stop(); |
| littlexc | 0:edc152f119b7 | 122 | wait(1); |
| littlexc | 0:edc152f119b7 | 123 | A.coast(); |
| littlexc | 0:edc152f119b7 | 124 | B.coast(); |
| littlexc | 0:edc152f119b7 | 125 | } |
| littlexc | 0:edc152f119b7 | 126 | */ |
DC Motor