Motor driver library. Based on Christopher Hasler\'s Motordriver library.
Dependents: project1 motoresMicromouse micromouse coba_lib_lcd ... more
motordriver.cpp
- Committer:
- osmeest
- Date:
- 2011-02-23
- Revision:
- 0:83245b45ea70
File content as of revision 0:83245b45ea70:
/*motor driver libary modified from the following libary, * * mbed simple H-bridge motor controller * Copyright (c) 2007-2010, sford * * by Christopher Hasler. * * from sford's libary, * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #include "motordriver.h" #include "mbed.h" Motor::Motor(PinName pwm, PinName fwd, PinName rev, bool brakeable): _pwm(pwm), _fwd(fwd), _rev(rev), _brakeable(brakeable), _sign(0) { // Set initial condition of PWM _pwm.period(0.001); _pwm = 0; // Initial condition of output enables _fwd = 0; _rev = 0; } float Motor::speed(float speed) { float temp = 0; if (_sign == 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); temp = abs(speed); _pwm = temp; } else if (_sign == 1) { if (speed < 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = 0; temp = 0; } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); temp = abs(speed); _pwm = temp; } } else if (_sign == -1) { if (speed > 0) { _fwd = (speed > 0.0); _rev = (speed < 0.0); _pwm = 0; temp = 0; } else { _fwd = (speed > 0.0); _rev = (speed < 0.0); temp = abs(speed); _pwm = temp; } } if (speed > 0) _sign = 1; else if (speed < 0) { _sign = -1; } else if (speed == 0) { _sign = 0; } return temp; } // (additions) void Motor::coast(void) { _fwd = 0; _rev = 0; _pwm = 0; _sign = 0; } float Motor::stop(float duty) { if (_brakeable == 1) { _fwd = 1; _rev = 1; _pwm = duty; _sign = 0; return duty; } else Motor::coast(); return -1; // error, can't brake } float Motor::state(void) const { int fwd = _fwd.read(); int rev = _rev.read(); float pwm = _pwm.read(); if ((fwd == rev) && (pwm > 0)) { return -2;//braking } else if (pwm == 0) { return 2;//coasting } else if ((fwd == 0) && (rev == 1)) { return -pwm;//reversing } else if ((fwd == 1) && (rev == 0)) { return pwm;//fowards } else return -3;//error } /* test code, this demonstrates working motor drivers. Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break int main() { for (float s=-1.0; s < 1.0 ; s += 0.01) { A.speed(s); B.speed(s); wait(0.02); } A.stop(); B.stop(); wait(1); A.coast(); B.coast(); } */