frequency change?
Fork of BridgeDriver by
BridgeDriver.h
- Committer:
- jason701802
- Date:
- 2014-07-30
- Revision:
- 11:2481432a0988
- Parent:
- 10:60c3d513b872
- Child:
- 12:4db83c772b51
File content as of revision 11:2481432a0988:
#include "mbed.h" #include "MCP23017.h" #include "TextLCD.h" //if using diagnostic #ifndef BRIDGEDRIVER_H #define BRIDGEDRIVER_H #define DEFAULT_PWM_PERIOD 0.0002 //pin definitions #define PIN_CH1 P1_18 //hardware PWM1[1] #define PIN_CH2 P2_0 //hardware PWM1[1] #define PIN_CH3 P1_20 //hardware PWM1[2] #define PIN_CH4 P2_1 //hardware PWM1[2] #define PIN_CH5 P1_21 //hardware PWM1[3] #define PIN_CH6 P1_23 //hardware PWM1[4] #define PIN_CH7 P1_24 //hardware PWM1[5] #define PIN_CH8 P1_26 //hardware PWM1[6] #define EN_ADDR 0x40 //i2c address of enable pin port expander. 0x40 for rev 1.0, 0x4C for rev 2.0 #define LED_ADDR 0x4E //i2c address of button and LED port expander /** BridgeDriver class * For controlling the Test Controller bridges. */ class BridgeDriver{ public: /** Channel pair labels * * MOTOR_A - Channel 1 and 2. * MOTOR_B - Channel 3 and 4. * MOTOR_C - Channel 5 and 6. * MOTOR_D - Channel 7 and 8. */ enum Motors{ MOTOR_A, MOTOR_B, MOTOR_C, MOTOR_D }; /** Create BridgeDriver object * * Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels. * Disabling PWM for a channel pair allows individual on/off control for each channel. * * MOTOR_A - Channel 1 and 2. * MOTOR_B - Channel 3 and 4. * MOTOR_C - Channel 5 and 6. * MOTOR_D - Channel 7 and 8. * @param *i2c A pointer to the I2C bus that the Enable control and LED port expanders are on. * @param enPwmA (Optional) 1 enables PWM on channels 1 and 2 for motor control, 0 disables PWM on channels 1 and 2 for solenoid control. Defaults to 0. * @param enPwmB (Optional) 1 enables PWM on channels 3 and 4 for motor control, 0 disables PWM on channels 3 and 4 for solenoid control. Defaults to 0. * @param enPwmC (Optional) 1 enables PWM on channels 5 and 6 for motor control, 0 disables PWM on channels 5 and 6 for solenoid control. Defaults to 0. * @param enPwmD (Optional) 1 enables PWM on channels 7 and 8 for motor control, 0 disables PWM on channels 7 and 8 for solenoid control. Defaults to 0. * @param enAddr (Optional) Address of the Enable control port expander. May be necessary if not using a rev 1.0 board. TODO: update for rev 2.0. * @param ledAddr (Optional) Address of the LED control port expander. May be necessary if not using rev 1.0 or 2.0 board. */ 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); /** Destroy BridgeDriver object */ ~BridgeDriver(); /** Enables/disables PWM for channel pairs * * Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels. * Disabling PWM for a channel pair allows individual on/off control for each channel. * * MOTOR_A - Channel 1 and 2. * MOTOR_B - Channel 3 and 4. * MOTOR_C - Channel 5 and 6. * MOTOR_D - Channel 7 and 8. * @param enPwmA 1 enables PWM on channels 1 and 2 for motor control, 0 disables PWM on channels 1 and 2 for solenoid control. * @param enPwmB 1 enables PWM on channels 3 and 4 for motor control, 0 disables PWM on channels 3 and 4 for solenoid control. * @param enPwmC 1 enables PWM on channels 5 and 6 for motor control, 0 disables PWM on channels 5 and 6 for solenoid control. * @param enPwmD 1 enables PWM on channels 7 and 8 for motor control, 0 disables PWM on channels 7 and 8 for solenoid control. */ void enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD); /** Enables/disables PWM for a given channel pair * * Enabling PWM for a channel pair links the channels so that they are controlled together. This should be used when connecting a motor between these channels. * Disabling PWM for a channel pair allows individual on/off control for each channel. * * MOTOR_A - Channel 1 and 2. * MOTOR_B - Channel 3 and 4. * MOTOR_C - Channel 5 and 6. * MOTOR_D - Channel 7 and 8. * @param motor Motor (channel pair) to enale/disable PWM. * @param enPwm 1 enables PWM on channel pair for motor control, 0 disables PWM on channel pair for solenoid control. */ void enablePwm(Motors motor, uint8_t enPwm); /** Enables/disables braking for channel pairs * @param enBrakeA 1 drives output to GND when off, 0 floats output when off. * @param enBrakeB 1 drives output to GND when off, 0 floats output when off. * @param enBrakeC 1 drives output to GND when off, 0 floats output when off. * @param enBrakeD 1 drives output to GND when off, 0 floats output when off. */ void enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD); /** Enables/disables braking for given channel pair * @param enBrakeA 1 drives output to GND when off, 0 floats output when off. */ void enableBraking(Motors motor, uint8_t enBrake); /** Force a specific channel to GND without changing braking default * Will fail if PWM is enabled on given channel. Use forceBrake(Motors motor) to force braking on channels with PWM enabled. * @param ch Channel to drive to GND * @return * 0 on success, * non 0 on failure. */ int forceBrake(uint8_t ch); /** Force a specific motor (channel pair) to GND without changing braking default * Will fail if PWM is disabled on given channel. Use forceBrake(uint8_t ch) to force braking on channels with PWM disabled. * @param motor Motor (channel pair) to drive to GND * @return * 0 on success, * non 0 on failure. */ int forceBrake(Motors motor); /** Force a specific channel to float without changing braking default * Will float both channels of a motor (channel pair) if PWM is enabled for the channel. * @param ch Channel to float. * @return * 0 on success, * non 0 on failure. */ int forceFloat(uint8_t ch); /** Force a specific motor to float without changing braking default * Will fail if PWM is disabled on given channel. Use forceFloat(uint8_t ch) to force floating on channels with PWM disabled. * @param motor Motor (channel pair) to float. * @return * 0 on success, * non 0 on failure. */ int forceFloat(Motors motor); /** Set all outputs with a single byte (bitwise control). * Will fail if PWM is enabled for any motor (channel pair). * @param state Sets all the outputs. Each bit controls one channel. * 1 drives high, * 0 brakes (drives to GND) or floats depending on setting of enBrake. * @return * -1 on failure, * 0 if all outputs are set to 0, * 1 if any output is set to 1. */ int drive(uint8_t state); /** Set the output of one channel * @param ch Channel to set. * @param on State to set. * 1 drives high, * 0 brakes (drives to GND) or floats depending on setting of enBrake. * @return * -1 on fauilure, * 0 if set to 0, * 1 if set to 1. */ int drive(uint8_t ch, uint8_t on); /** Control the speed of a motor * @param motor Motor (channel pair) to control. * @param speed Speed to set motor to. Acceptable range: -1.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake. * @return * -1 on failure, * speed of set output on success. */ float drive(Motors motor, float speed); /** Control the speed of a motor * @param motor Motor (channel pair) to control. * @param speed Speed to set motor to. Acceptable range: 0.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake. * @param dir Set direction to drive motor. * 1: forward, * -1: reverse, * 0: brake, irregardless of setting of enBrake or speed. * @return * -1 on failure, * speed of set output on success. */ float drive(Motors motor, int8_t dir, float speed); /** Display diagnostic information on the LCD * @param *lcd Pointer to TextLCD object to display info on. */ void diagnostic(TextLCD_I2C *lcd); /** Change the PWM period * @param newPWMperiod The new PWM period. In seconds. System default is 0.0002 (5kHz). */ void setPWMperiod(float newPWMperiod); private: DigitalOut *_d[8]; PwmOut *_p[8]; MCP23017 *_EnCtl; MCP23017 *_IO; I2C *_i2c; uint8_t _enAddr; uint8_t _ledAddr; uint8_t _pwm[4]; //enabled full bridges uint8_t _pwmCh; //currently actie PWM pins int8_t _dir[4]; //dir of 1 means lower # ch is driving, dir of -1 means higher number ch is driving uint8_t _braking[4]; uint8_t _oldLedState; //for setLed functions. Kept external to overload function float _PWMperiod; void enableCh(uint8_t ch, uint8_t en); void setLed(uint8_t ch, uint8_t en); void setLed(uint8_t state); void setPwm(uint8_t ch, uint8_t en); }; #endif