Motor driver library. Based on Christopher Hasler\'s Motordriver library.

Dependents:   project1 motoresMicromouse micromouse coba_lib_lcd ... more

Files at this revision

API Documentation at this revision

Comitter:
osmeest
Date:
Wed Feb 23 23:12:44 2011 +0000
Commit message:
Slightly improvement over original: brakeable is a bool and state() should be const.

Changed in this revision

motordriver.cpp Show annotated file Show diff for this revision Revisions of this file
motordriver.h Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 83245b45ea70 motordriver.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motordriver.cpp	Wed Feb 23 23:12:44 2011 +0000
@@ -0,0 +1,140 @@
+/*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();
+}
+*/
\ No newline at end of file
diff -r 000000000000 -r 83245b45ea70 motordriver.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motordriver.h	Wed Feb 23 23:12:44 2011 +0000
@@ -0,0 +1,91 @@
+/*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.
+*/
+ 
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+ 
+#include "mbed.h"
+ 
+/** Interface to control a standard DC motor 
+* with an H-bridge using a PwmOut and 2 DigitalOuts
+*/
+class Motor {
+    public:
+ 
+/** Create a motor control interface    
+*
+* @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
+* @param fwd A DigitalOut, set high when the motor should go forward
+* @param rev A DigitalOut, set high when the motor should go backwards
+* @param set if the motor driver is able to do braking 0 false 1 true.
+*/
+        Motor(PinName pwm, PinName fwd, PinName rev, bool brakeable = false);
+  
+/** Set the speed of the motor 
+* 
+* @param speed The speed of the motor as a normalised value between -1.0 and 1.0.
+* @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping.
+*/
+        float speed(float speed);
+        
+/** Set the the motor to coast
+* 
+* @param void 
+* @return motor coasts until another instruction is recived.
+*/        
+  
+        void coast(void);
+
+/** Set the motor to dynamicaly brake
+* 
+* @param float 0 - 1.0 provides some control over how hard the motor brakes. 
+* @return duty applied to motor driver. -1 is error, motor driver can't brake.
+*/
+
+        float stop(float duty);
+/** return the current state of the motor
+*
+* @param void
+* @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. 
+*/
+        float state(void) const;
+        
+    protected:
+        mutable PwmOut _pwm;
+        mutable DigitalOut _fwd;
+        mutable DigitalOut _rev;
+        bool _brakeable; // cna the motor driver break
+        int _sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
+ 
+};
+
+
+
+
+
+#endif