Mitchell Hatfield / BridgeDriver

- Don't think anything was changed or updated.... simply viewed the class

Dependents:   Component_Test_Interface

Fork of BridgeDriver by Jason T

BridgeDriver.h@8:36e2cd31ccf3, 2014-07-28 (annotated)

Committer:
jason701802
Date:
Mon Jul 28 18:17:29 2014 +0000
Revision:
8:36e2cd31ccf3
Parent:
7:7dabd934ebe4
Child:
9:00e8b7afb2c7
Changed default PWM period to 0.2ms (5kHz) and added function to change PWM period.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jason701802 0:b1e3fa917367 1 #include "mbed.h"
jason701802 0:b1e3fa917367 2 #include "MCP23017.h"
jason701802 1:c8e328389a98 3 #include "TextLCD.h" //if using diagnostic
jason701802 0:b1e3fa917367 4
jason701802 5:c1f32ce026f6 5 #ifndef BRIDGEDRIVER_H
jason701802 0:b1e3fa917367 6 #define BRIDGEDRIVER_H
jason701802 0:b1e3fa917367 7
jason701802 4:87768972db3f 8
jason701802 8:36e2cd31ccf3 9 #define DEFAULT_PWM_PERIOD 0.0002
jason701802 4:87768972db3f 10
jason701802 0:b1e3fa917367 11 //pin definitions
jason701802 0:b1e3fa917367 12 #define PIN_CH1 P1_18 //hardware PWM1[1]
jason701802 0:b1e3fa917367 13 #define PIN_CH2 P2_0 //hardware PWM1[1]
jason701802 0:b1e3fa917367 14 #define PIN_CH3 P1_20 //hardware PWM1[2]
jason701802 0:b1e3fa917367 15 #define PIN_CH4 P2_1 //hardware PWM1[2]
jason701802 0:b1e3fa917367 16 #define PIN_CH5 P1_21 //hardware PWM1[3]
jason701802 0:b1e3fa917367 17 #define PIN_CH6 P1_23 //hardware PWM1[4]
jason701802 0:b1e3fa917367 18 #define PIN_CH7 P1_24 //hardware PWM1[5]
jason701802 0:b1e3fa917367 19 #define PIN_CH8 P1_26 //hardware PWM1[6]
jason701802 0:b1e3fa917367 20
jason701802 0:b1e3fa917367 21
jason701802 0:b1e3fa917367 22 #define EN_ADDR 0x40 //i2c address of enable pin port expander
jason701802 0:b1e3fa917367 23 #define LED_ADDR 0x4E //i2c address of button and LED port expander
jason701802 0:b1e3fa917367 24
jason701802 0:b1e3fa917367 25
jason701802 0:b1e3fa917367 26 class BridgeDriver{
jason701802 1:c8e328389a98 27
jason701802 1:c8e328389a98 28
jason701802 1:c8e328389a98 29 public:
jason701802 7:7dabd934ebe4 30 enum Motors{ MOTOR_A,
jason701802 7:7dabd934ebe4 31 MOTOR_B,
jason701802 7:7dabd934ebe4 32 MOTOR_C,
jason701802 7:7dabd934ebe4 33 MOTOR_D
jason701802 1:c8e328389a98 34 };
jason701802 1:c8e328389a98 35
jason701802 1:c8e328389a98 36
jason701802 1:c8e328389a98 37 BridgeDriver( I2C *i2c, uint8_t enPwmA = 0, uint8_t enPwmB = 0, uint8_t enPwmC = 0, uint8_t enPwmD = 0, uint8_t enAddr = EN_ADDR, uint8_t ledAddr = LED_ADDR);
jason701802 0:b1e3fa917367 38
jason701802 0:b1e3fa917367 39 ~BridgeDriver();
jason701802 0:b1e3fa917367 40
jason701802 0:b1e3fa917367 41 void enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD);
jason701802 7:7dabd934ebe4 42 void enablePwm(Motors motor, uint8_t enPwm);
jason701802 0:b1e3fa917367 43
jason701802 0:b1e3fa917367 44
jason701802 0:b1e3fa917367 45 void enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD); //1 - drives output to GND when off; 0 - floats output when off
jason701802 7:7dabd934ebe4 46 void enableBraking(Motors motor, uint8_t enBrake);
jason701802 0:b1e3fa917367 47
jason701802 0:b1e3fa917367 48 int forceBrake(uint8_t ch); //force a specific channel to GND without changing braking default
jason701802 7:7dabd934ebe4 49 int forceBrake(Motors motor); //force a specific motor to GND without changing braking default
jason701802 0:b1e3fa917367 50 int forceFloat(uint8_t ch); //force a specific channel to float without changing braking default
jason701802 7:7dabd934ebe4 51 int forceFloat(Motors motor); //force a specific motor to float without changing braking default
jason701802 0:b1e3fa917367 52
jason701802 0:b1e3fa917367 53 int drive(uint8_t state);
jason701802 0:b1e3fa917367 54 int drive(uint8_t ch, uint8_t on);
jason701802 7:7dabd934ebe4 55 float drive(Motors motor, float speed); //speed from -1 to 1, speed of 0 will coast or brake depending on setting of _braking
jason701802 7:7dabd934ebe4 56 float drive(Motors motor, int8_t dir, float speed);
jason701802 0:b1e3fa917367 57 //dir: 1=fwd, -1=rev, 0=brake (irregardless of setting of _braking
jason701802 0:b1e3fa917367 58 //speed from 0 to 1, speed of 0 will coast or brake depending on setting of _braking
jason701802 1:c8e328389a98 59
jason701802 1:c8e328389a98 60 void diagnostic(TextLCD_I2C *lcd);
jason701802 8:36e2cd31ccf3 61 void setPWMperiod(float newPWMperiod);
jason701802 0:b1e3fa917367 62
jason701802 0:b1e3fa917367 63
jason701802 0:b1e3fa917367 64
jason701802 0:b1e3fa917367 65 private:
jason701802 0:b1e3fa917367 66 DigitalOut *_d[8];
jason701802 0:b1e3fa917367 67 PwmOut *_p[8];
jason701802 0:b1e3fa917367 68 MCP23017 *_EnCtl;
jason701802 0:b1e3fa917367 69 MCP23017 *_IO;
jason701802 0:b1e3fa917367 70 I2C *_i2c;
jason701802 0:b1e3fa917367 71 uint8_t _enAddr;
jason701802 0:b1e3fa917367 72 uint8_t _ledAddr;
jason701802 1:c8e328389a98 73 uint8_t _pwm[4]; //enabled full bridges
jason701802 1:c8e328389a98 74 uint8_t _pwmCh; //currently actie PWM pins
jason701802 1:c8e328389a98 75 int8_t _dir[4]; //dir of 1 means lower # ch is driving, dir of -1 means higher number ch is driving
jason701802 0:b1e3fa917367 76 uint8_t _braking[4];
jason701802 1:c8e328389a98 77 uint8_t _oldLedState; //for setLed functions. Kept external to overload function
jason701802 8:36e2cd31ccf3 78 float _PWMperiod;
jason701802 0:b1e3fa917367 79
jason701802 0:b1e3fa917367 80 void enableCh(uint8_t ch, uint8_t en);
jason701802 0:b1e3fa917367 81 void setLed(uint8_t ch, uint8_t en);
jason701802 0:b1e3fa917367 82 void setLed(uint8_t state);
jason701802 0:b1e3fa917367 83 void setPwm(uint8_t ch, uint8_t en);
jason701802 0:b1e3fa917367 84
jason701802 0:b1e3fa917367 85
jason701802 0:b1e3fa917367 86
jason701802 0:b1e3fa917367 87 };
jason701802 0:b1e3fa917367 88
jason701802 0:b1e3fa917367 89
jason701802 0:b1e3fa917367 90
jason701802 0:b1e3fa917367 91 #endif