HBridge.h

00001 /**
00002 * @author Giles Barton-Owen
00003 *
00004 * @section LICENSE
00005 *
00006 * Copyright (c) 2012 mbed
00007 *
00008 * Permission is hereby granted, free of charge, to any person obtaining a copy
00009 * of this software and associated documentation files (the "Software"), to deal
00010 * in the Software without restriction, including without limitation the rights
00011 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012 * copies of the Software, and to permit persons to whom the Software is
00013 * furnished to do so, subject to the following conditions:
00014 *
00015 * The above copyright notice and this permission notice shall be included in
00016 * all copies or substantial portions of the Software.
00017 *
00018 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024 * THE SOFTWARE.
00025 *
00026 * @section DESCRIPTION
00027 *    A simple library to control an H-Bridge driver using two DIO and a PWM pin
00028 *
00029 */ 
00030 
00031 
00032 #ifndef HBRIDGERAW_H
00033 #define HBRIDGERAW_H
00034 
00035 #include "mbed.h"
00036 
00037 /** A simple HBridge controller library
00038  */
00039 class HBridge
00040 {
00041     public:
00042     /** Creates an instance of the HBridge class
00043      *
00044      * @param A The pin the "A" line is connected to (naming taken from the L293D).
00045      * @param B The pin the "B" line is connected to (naming taken from the L293D).
00046      * @param en The pin the enable line is connected to.]
00047      */
00048     HBridge(PinName A, PinName B, PinName en);
00049     
00050     /** Hard stops the motor
00051      */
00052     void stop();
00053     
00054     /** Starts the motor
00055      */
00056     void start();
00057     
00058     /** Sets the PWM output of the enable pin and therefore the speed of the motor
00059      *
00060      * @param speed_in The float value of the desired speed between -1 and 1
00061      */
00062     void speed(float speed_in);
00063     
00064     /** Turn off and on the enable pin
00065      *
00066      * @param onoff Enable the motor or not (on(true))
00067      */
00068     void power(bool onoff);
00069     
00070     /** Set the pwm value of the enable pin
00071      *
00072      * @param power_in The value of the pwm enable pins 
00073      */
00074     void power(float power_in);
00075     
00076     /** Soft stop the motor
00077      */
00078     void soft_stop();
00079     
00080     /** Go forward, starts the motor
00081      */
00082     void forward();
00083     
00084     /** Go backward, starts the motor
00085      */
00086     void backward();
00087     
00088     /** Go forward, starts the motor
00089      *
00090      * @param speed_in The float value of the desired speed between 0 and 1
00091      */
00092     void forward(float speed_in);
00093     
00094     /** Go backward, starts the motor
00095      *
00096      * @param speed_in The float value of the desired speed between 0 and 1
00097      */
00098     void backward(float speed_in);
00099     
00100     /** Set A high or low
00101      *
00102      * @param highlow Set the high/low state of the A half-bridge (high(true))
00103      */
00104     void A(bool highlow);
00105     
00106     /** Set B high or low
00107      *
00108      * @param highlow Set the high/low state of the B half-bridge (high(true))
00109      */
00110     void B(bool highlow);
00111     
00112     /** Set the direction of travel
00113      * 
00114      * @param direction_in Forward = true
00115      */
00116     void direction(bool direction_in);
00117     
00118     
00119     private:
00120     PwmOut enable;
00121     DigitalOut Adrive;
00122     DigitalOut Bdrive;
00123     
00124     bool power_status;
00125     float speed_value;
00126     bool A_value;
00127     bool B_value;
00128     bool stored_direction;
00129     
00130     void set();
00131     
00132     
00133 };
00134 
00135 
00136 
00137 #endif