Diff: Microduino_Motor.cpp

Revision:

3:e4ac7c1a14de

Parent:

2:70ca3e685cca

Child:

4:0670023d3f36

--- a/Microduino_Motor.cpp	Wed May 25 13:25:09 2016 +0000
+++ b/Microduino_Motor.cpp	Fri May 27 01:44:31 2016 +0000
@@ -10,18 +10,28 @@
         this->motorIndex = MotorCount++;                    // assign a key index to this instance
         //if (_motor_pinA < NUM_DIGITAL_PINS && _motor_pinB < NUM_DIGITAL_PINS) {
         if (true) {
-            //pinMode( _motor_pinA, OUTPUT) ;
-            gpio_init_out(&gpioA, _motor_pinA);
+#if 0
+            pinMode( _motor_pinA, OUTPUT) ;
+#else
+            _period_us = 2000; // 500Hz
+            pwmout_init(&_pwmA, _motor_pinA);
+            pwmout_period_us(&_pwmA, _period_us); // 500Hz
+#endif
             motors[this->motorIndex].Pin.nbr_A = _motor_pinA;
 
-            //pinMode( _motor_pinB, OUTPUT) ;
-            gpio_init_out(&gpioB, _motor_pinB);
+#if 0
+            pinMode( _motor_pinB, OUTPUT) ;
+#else
+            pwmout_init(&_pwmB, _motor_pinB);
+            pwmout_period_us(&_pwmB, _period_us); // 500Hz
+#endif
             motors[this->motorIndex].Pin.nbr_B = _motor_pinB;
 
             this->fix=1;
         }
-    } else
+    } else {
         this->motorIndex = 255 ;  // too many keys
+    }
 }
 
 void Motor::Fix(float _fix)
@@ -48,7 +58,7 @@
     return this->_motor_vol;
 }
 
-
+#if 0
 void Motor::Driver(int16_t _motor_driver)
 {
     int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
@@ -64,19 +74,50 @@
         digitalWrite(channel_B, HIGH);
     }
 }
+#else
+void Motor::Driver(int16_t _motor_driver)
+{
+    int16_t pulseWidth = 0;
+    PinName channel_A = motors[this->motorIndex].Pin.nbr_A;
+    PinName channel_B = motors[this->motorIndex].Pin.nbr_B;
+    if (_motor_driver == 0) {
+        pwmout_pulsewidth_us(&_pwmA, 0);
+        pwmout_pulsewidth_us(&_pwmB, 0);
+    } else if (_motor_driver > 0) {
+        pulseWidth = _period_us * _motor_driver / 255;
+        pwmout_pulsewidth_us(&_pwmA, pulseWidth);
+        pwmout_pulsewidth_us(&_pwmB, 0);
+    } else {
+        _motor_driver = 255 + _motor_driver;
+        pulseWidth = _period_us * _motor_driver / 255;
+        pwmout_pulsewidth_us(&_pwmA, pulseWidth);
+        pwmout_pulsewidth_us(&_pwmB, _period_us);
+    }
+}
+#endif
 
 void Motor::Free()
 {
     int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
     int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
+#if 0
     digitalWrite(channel_A, LOW);
     digitalWrite(channel_B, LOW);
+#else
+    pwmout_pulsewidth_us(&_pwmA, 0);
+    pwmout_pulsewidth_us(&_pwmB, 0);
+#endif
 }
 
 void Motor::Brake()
 {
     int8_t channel_A = motors[this->motorIndex].Pin.nbr_A;
     int8_t channel_B = motors[this->motorIndex].Pin.nbr_B;
+#if 0
     digitalWrite(channel_A, HIGH);
     digitalWrite(channel_B, HIGH);
+#else
+    pwmout_pulsewidth_us(&_pwmA, _period_us);
+    pwmout_pulsewidth_us(&_pwmB, _period_us);
+#endif
 }
\ No newline at end of file