Motor.h

00001 /* mbed simple H-bridge motor controller
00002  * Copyright (c) 2007-2010, sford, http://mbed.org
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #ifndef MBED_MOTOR_H
00024 #define MBED_MOTOR_H
00025 
00026 #include "mbed.h"
00027 
00028 
00029 
00030 struct mState {
00031     bool en;
00032     bool fwd;
00033     bool rev;
00034 };
00035 
00036 /** Interface to control a standard DC motor 
00037  *
00038  * with an H-bridge using a PwmOut and 2 DigitalOuts
00039  */
00040 class Motor {
00041 public:
00042 
00043     /** Create a motor control interface    
00044      *
00045      * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
00046      * @param fwd A DigitalOut, set high when the motor should go forward
00047      * @param rev A DigitalOut, set high when the motor should go backwards
00048      */
00049     Motor(PinName en, PinName fwd, PinName rev);
00050     
00051     /** Set the speed of the motor
00052      * 
00053      * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
00054      */
00055     void direct(int dir);
00056     void speed(float timeval, float speed);
00057     mState getState();
00058     void setState(mState);
00059 
00060 protected:
00061     DigitalOut _en;
00062     DigitalOut _fwd;
00063     DigitalOut _rev;
00064 
00065 };
00066 
00067 #endif