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
Diff: motordriver.cpp
- Revision:
- 2:2dc873322032
- Parent:
- 1:3da7302dc9ae
- Child:
- 3:8822f4955035
--- a/motordriver.cpp Thu Nov 11 15:32:55 2010 +0000 +++ b/motordriver.cpp Fri Nov 19 12:32:06 2010 +0000 @@ -46,30 +46,36 @@ sign = 0;//i.e nothing. } -void Motor::speed(float speed) { +float Motor::speed(float speed) { + float temp = 0; if (sign == 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); - _pwm = abs(speed); + temp = abs(speed); + _pwm = temp; } else if (sign == 1) { if (speed < 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = 0; + temp = 0; } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); - _pwm = abs(speed); + temp = abs(speed); + _pwm = temp; } } else if (sign == -1) { if (speed > 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = 0; + temp = 0; } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); - _pwm = abs(speed); + temp = abs(speed); + _pwm = temp; } } if (speed > 0) @@ -79,7 +85,7 @@ } else if (speed == 0) { sign = 0; } - + return temp; } // (additions) void Motor::coast(void) { @@ -89,14 +95,15 @@ sign = 0; } -void Motor::stop(void) { +float Motor::stop(float duty) { if (Brakeable == 1) { _fwd = 1; _rev = 1; - _pwm = 0.5; + _pwm = duty; sign = 0; + return duty; } else - return; + return 0; } /*