Martin Simpson / motor

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motor.cpp@0:52cb035f23fa, 2019-01-17 (annotated)

Committer:
martinsimpson
Date:
Thu Jan 17 17:01:11 2019 +0000
Revision:
0:52cb035f23fa
try3;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
martinsimpson 0:52cb035f23fa 1 /** A Motor Driver, used for setting the pins for PWM Outpu
martinsimpson 0:52cb035f23fa 2 * for use with ROCO104
martinsimpson 0:52cb035f23fa 3 *
martinsimpson 0:52cb035f23fa 4 * @note Synchronization level: Interrupt safe
martinsimpson 0:52cb035f23fa 5 *
martinsimpson 0:52cb035f23fa 6 * Example:
martinsimpson 0:52cb035f23fa 7 * @code
martinsimpson 0:52cb035f23fa 8 * // Toggle a LED
martinsimpson 0:52cb035f23fa 9 * #include "mbed.h"
martinsimpson 0:52cb035f23fa 10 *
martinsimpson 0:52cb035f23fa 11 * Motor Wheels(D15,D14,D13,D12);
martinsimpson 0:52cb035f23fa 12 *
martinsimpson 0:52cb035f23fa 13 * int main()
martinsimpson 0:52cb035f23fa 14 * {
martinsimpson 0:52cb035f23fa 15 * Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
martinsimpson 0:52cb035f23fa 16 * while(true)
martinsimpson 0:52cb035f23fa 17 * {
martinsimpson 0:52cb035f23fa 18 * Wheel.Speed(0.8,0.8);//Forward 80%
martinsimpson 0:52cb035f23fa 19 * wait(5.0);
martinsimpson 0:52cb035f23fa 20 * Wheel.stop();
martinsimpson 0:52cb035f23fa 21 * wait(1.0);
martinsimpson 0:52cb035f23fa 22 * Wheel.Speed(-0.8,-0.8);//Reverse 80%
martinsimpson 0:52cb035f23fa 23 * wait(5.0);
martinsimpson 0:52cb035f23fa 24 * Wheel.stop();
martinsimpson 0:52cb035f23fa 25 * wait(1.0);
martinsimpson 0:52cb035f23fa 26 * }
martinsimpson 0:52cb035f23fa 27 * }
martinsimpson 0:52cb035f23fa 28 * @endcode
martinsimpson 0:52cb035f23fa 29 */
martinsimpson 0:52cb035f23fa 30
martinsimpson 0:52cb035f23fa 31 #include "motor.h"
martinsimpson 0:52cb035f23fa 32 Motor::Motor(PinName pinName1, PinName pinName2, PinName pinName3, PinName pinName4) : pin1(pinName1), pin2(pinName2), pin3(pinName3), pin4(pinName4)
martinsimpson 0:52cb035f23fa 33 {
martinsimpson 0:52cb035f23fa 34 }
martinsimpson 0:52cb035f23fa 35 void Motor::Fwd(float duty)
martinsimpson 0:52cb035f23fa 36 {
martinsimpson 0:52cb035f23fa 37 this->pin1 = 0.0f;
martinsimpson 0:52cb035f23fa 38 this->pin2 = duty;
martinsimpson 0:52cb035f23fa 39 this->pin3 = 0.0f;
martinsimpson 0:52cb035f23fa 40 this->pin4 = duty;
martinsimpson 0:52cb035f23fa 41 }
martinsimpson 0:52cb035f23fa 42 void Motor::Rev(float duty)
martinsimpson 0:52cb035f23fa 43 {
martinsimpson 0:52cb035f23fa 44 this->pin1 = duty;
martinsimpson 0:52cb035f23fa 45 this->pin2 = 0.0f;
martinsimpson 0:52cb035f23fa 46 this->pin3 = duty;
martinsimpson 0:52cb035f23fa 47 this->pin4 = 0.0f;
martinsimpson 0:52cb035f23fa 48 }
martinsimpson 0:52cb035f23fa 49 void Motor::Stop(void)
martinsimpson 0:52cb035f23fa 50 {
martinsimpson 0:52cb035f23fa 51 this->pin1 = 0.0f;
martinsimpson 0:52cb035f23fa 52 this->pin2 = 0.0f;
martinsimpson 0:52cb035f23fa 53 this->pin3 = 0.0f;
martinsimpson 0:52cb035f23fa 54 this->pin4 = 0.0f;
martinsimpson 0:52cb035f23fa 55 }
martinsimpson 0:52cb035f23fa 56 int Motor::Speed(float speedA, float speedB)
martinsimpson 0:52cb035f23fa 57 {
martinsimpson 0:52cb035f23fa 58 if(speedA>1.0f||speedA<-1.0f){ //CHECK speedA Value is in Range!
martinsimpson 0:52cb035f23fa 59 return -1; //return ERROR code -1=speedA Value out of range! EXIT Function
martinsimpson 0:52cb035f23fa 60 }
martinsimpson 0:52cb035f23fa 61 if(speedB>1.0f||speedA<-1.0f){ //CHECK speedB Value is in Range!
martinsimpson 0:52cb035f23fa 62 return -2; //return ERROR code -2=speedB Value out of range! EXIT Function
martinsimpson 0:52cb035f23fa 63 }
martinsimpson 0:52cb035f23fa 64
martinsimpson 0:52cb035f23fa 65 //If speed values have passed the checks above then the following code will be executed
martinsimpson 0:52cb035f23fa 66
martinsimpson 0:52cb035f23fa 67 if(speedA<0.0f)
martinsimpson 0:52cb035f23fa 68 { //Reverse A motor
martinsimpson 0:52cb035f23fa 69 this->pin1 = -speedA;
martinsimpson 0:52cb035f23fa 70 this->pin2 = 0.0f;
martinsimpson 0:52cb035f23fa 71 }
martinsimpson 0:52cb035f23fa 72
martinsimpson 0:52cb035f23fa 73 else
martinsimpson 0:52cb035f23fa 74 { //Forward A motor
martinsimpson 0:52cb035f23fa 75 this->pin1 = 0.0f;
martinsimpson 0:52cb035f23fa 76 this->pin2 = speedA;
martinsimpson 0:52cb035f23fa 77 }
martinsimpson 0:52cb035f23fa 78
martinsimpson 0:52cb035f23fa 79 if(speedB<0.0f)
martinsimpson 0:52cb035f23fa 80 { //Reverse B motor
martinsimpson 0:52cb035f23fa 81 this->pin3 = -speedB;
martinsimpson 0:52cb035f23fa 82 this->pin4 = 0.0f;
martinsimpson 0:52cb035f23fa 83 }
martinsimpson 0:52cb035f23fa 84 else
martinsimpson 0:52cb035f23fa 85 { //Forward B motor
martinsimpson 0:52cb035f23fa 86 this->pin3 = 0.0f;
martinsimpson 0:52cb035f23fa 87 this->pin4 = speedB;
martinsimpson 0:52cb035f23fa 88 }
martinsimpson 0:52cb035f23fa 89 return 0; //Return ERROR code Zero i.e. NO ERROR success!
martinsimpson 0:52cb035f23fa 90 }
martinsimpson 0:52cb035f23fa 91
martinsimpson 0:52cb035f23fa 92 void Motor::Period_in_ms(int msPeriod)
martinsimpson 0:52cb035f23fa 93 {
martinsimpson 0:52cb035f23fa 94 this->pin1.period_ms(msPeriod);
martinsimpson 0:52cb035f23fa 95 this->pin2.period_ms(msPeriod);
martinsimpson 0:52cb035f23fa 96 this->pin3.period_ms(msPeriod);
martinsimpson 0:52cb035f23fa 97 this->pin4.period_ms(msPeriod);
martinsimpson 0:52cb035f23fa 98 }