motor.cpp

00001 /** A Motor Driver, used for setting the pins for PWM Outpu
00002    *  for use with ROCO104
00003    *
00004    * @note Synchronization level: Interrupt safe
00005    *
00006    * Example:
00007    * @code
00008    * // Toggle a LED
00009    * #include "mbed.h"
00010    *
00011    * Motor Wheels(D15,D14,D13,D12);
00012    *
00013    * int main()
00014    * {    
00015    *     Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
00016    *     while(true)
00017    *     {
00018    *         Wheel.Speed(0.8,0.8);//Forward 80%
00019    *         wait(5.0);
00020    *         Wheel.stop();
00021    *         wait(1.0);
00022    *         Wheel.Speed(-0.8,-0.8);//Reverse 80%
00023    *         wait(5.0);
00024    *         Wheel.stop();
00025    *         wait(1.0);
00026    *     }
00027    * }
00028    * @endcode
00029 */
00030 
00031 #include "motor.h"
00032 Motor::Motor(PinName pinName1, PinName pinName2, PinName pinName3, PinName pinName4) : pin1(pinName1), pin2(pinName2), pin3(pinName3), pin4(pinName4)
00033 {
00034 }
00035 void Motor::Fwd(float duty)
00036 { 
00037     this->pin1 = 0.0f;
00038     this->pin2 = duty;
00039     this->pin3 = 0.0f;
00040     this->pin4 = duty;
00041 }
00042 void Motor::Rev(float duty)
00043 {
00044     this->pin1 = duty;
00045     this->pin2 = 0.0f;
00046     this->pin3 = duty;
00047     this->pin4 = 0.0f;
00048 }
00049 void Motor::Stop(void)
00050 {
00051     this->pin1 = 0.0f;
00052     this->pin2 = 0.0f;
00053     this->pin3 = 0.0f;
00054     this->pin4 = 0.0f;
00055 }
00056 int Motor::Speed(float speedA, float speedB)
00057 {
00058   if(speedA>1.0f||speedA<-1.0f){ //CHECK speedA Value is in Range!
00059       return -1;                  //return ERROR code -1=speedA Value out of range! EXIT Function
00060    }
00061    if(speedB>1.0f||speedA<-1.0f){ //CHECK speedB Value is in Range!
00062       return -2;                  //return ERROR code -2=speedB Value out of range! EXIT Function
00063    }
00064  
00065    //If speed values have passed the checks above then the following code will be executed
00066    
00067    if(speedA<0.0f)
00068    { //Reverse A motor
00069         this->pin1 = -speedA;
00070         this->pin2 = 0.0f;
00071    }
00072    
00073    else
00074    { //Forward A motor
00075         this->pin1 = 0.0f;
00076         this->pin2 = speedA;
00077    }
00078    
00079    if(speedB<0.0f)
00080    { //Reverse B motor
00081         this->pin3 = -speedB;
00082         this->pin4 = 0.0f;
00083    }
00084    else
00085    { //Forward B motor
00086         this->pin3 = 0.0f;
00087         this->pin4 = speedB;
00088    }
00089    return 0;                      //Return ERROR code Zero i.e. NO ERROR success!
00090 }
00091 
00092 void Motor::Period_in_ms(int msPeriod)
00093 {
00094     this->pin1.period_ms(msPeriod);
00095     this->pin2.period_ms(msPeriod);
00096     this->pin3.period_ms(msPeriod);
00097     this->pin4.period_ms(msPeriod);
00098 }