Diff: motordrivercs.h
- Revision:
- 0:774d7a3e63ae
- Child:
- 1:3ece560dd2da
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motordrivercs.h Fri Nov 19 12:15:33 2010 +0000
@@ -0,0 +1,96 @@
+/*motor driver libary modified from the following libary,
+*
+* mbed simple H-bridge motor controller
+* Copyright (c) 2007-2010, sford
+*
+* by Christopher Hasler.
+*
+* from sford's libary,
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*/
+
+#ifndef MBED_MOTORCS_H
+#define MBED_MOTORCS_H
+
+#include "mbed.h"
+
+/** Interface to control a standard DC motor
+* with an H-bridge using a PwmOut and 2 DigitalOuts plus analog input from current sense.
+*/
+class Motor {
+ public:
+
+/** Create a motor control interface
+*
+* @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
+* @param fwd A DigitalOut, set high when the motor should go forward
+* @param rev A DigitalOut, set high when the motor should go backwards
+* @param brakeable, set if the motor driver is able to do braking 0 false 1 true. (addition)
+* @param ain, analog in conected to current sense pin.
+* @param ohms, value of resistor on current sense pin.
+* @param limit, maximum current possible, in amps. ie, 1 = 1A, 0.1 = 100mA
+8 @param cutby. the amount the system cuts the speed by in the event of a current spike above limit.
+*/
+ Motor(PinName pwm, PinName fwd, PinName rev, PinName ain, float ohms, float limit, float cutby, int brakeable);
+
+/** Set the speed of the motor (addition)
+*
+* @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+* @return speed applied after limiting due to current.
+*/
+ float speedcs(float speed);
+
+/** Set the the motor to coast
+*
+* @param void motor coasts until another instruction is recived
+*/
+
+ void coastcs(void);
+
+/** Set the motor to dynamicaly brake (addition)
+*
+* @param float duty 0 - 1.0 provides some control over how hard the motor brakes.
+* @return returns duty applied due to current limiting.
+*/
+
+ float stopcs(float duty);
+
+/** read the current
+*
+* @param void returns (analog in * 0.303)/ohms.
+*/
+ float current(void);
+
+ protected:
+ //pins
+ PwmOut _pwm;
+ DigitalOut _fwd;
+ DigitalOut _rev;
+ AnalogIn _ain;
+ //variables
+ int Brakeable; // (addition)
+ int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
+ float ohms;
+ float currentlimit;
+ float modifyspeed;
+ //functions
+};
+
+#endif
Christopher Hasler