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/*motor driver libary modified from the following libary,
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*
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* mbed simple H-bridge motor controller
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* Copyright (c) 2007-2010, sford
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*
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* by Christopher Hasler.
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*
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* from sford's libary,
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef MBED_MOTORCS_H
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#define MBED_MOTORCS_H
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#include "mbed.h"
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/** Interface to control a standard DC motor
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* with an H-bridge using a PwmOut and 2 DigitalOuts plus analog input from current sense.
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*/
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class Motor {
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public:
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/** Create a motor control interface
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*
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* @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
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* @param fwd A DigitalOut, set high when the motor should go forward
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* @param rev A DigitalOut, set high when the motor should go backwards
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* @param brakeable, set if the motor driver is able to do braking 0 false 1 true. (addition)
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* @param ain, analog in conected to current sense pin.
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* @param ohms, value of resistor on current sense pin.
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* @param limit, maximum current possible, in amps. ie, 1 = 1A, 0.1 = 100mA
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8 @param cutby. the amount the system cuts the speed by in the event of a current spike above limit.
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*/
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Motor(PinName pwm, PinName fwd, PinName rev, PinName ain, float ohms, float limit, float cutby, int brakeable);
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/** Set the speed of the motor (addition)
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*
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* @param speed The speed of the motor as a normalised value between -1.0 and 1.0
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* @return speed applied after limiting due to current.
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*/
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float speedcs(float speed);
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/** Set the the motor to coast
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*
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* @param void
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* @returns motor coasts until another instruction is recived
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*/
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void coastcs(void);
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/** Set the motor to dynamicaly brake (addition)
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*
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* @param float duty 0 - 1.0 provides some control over how hard the motor brakes.
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* @return duty applied due to current limiting.
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*/
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float stopcs(float duty);
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/** read the current
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*
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* @param void
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* @return (analog in * 0.303)/ohms.
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*/
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float current(void);
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protected:
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//pins
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PwmOut _pwm;
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DigitalOut _fwd;
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DigitalOut _rev;
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AnalogIn _ain;
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//variables
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int Brakeable; // (addition)
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int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
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float ohms;
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float currentlimit;
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float modifyspeed;
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//functions
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};
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#endif
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