Revision 0:34dc80e97224, committed 2014-10-06

Comitter:

piniels

Date:

Mon Oct 06 11:57:30 2014 +0000

Commit message:

version with acc

Changed in this revision

diff -r 000000000000 -r 34dc80e97224 Motor_shield.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor_shield.cpp	Mon Oct 06 11:57:30 2014 +0000
@@ -0,0 +1,42 @@
+/* mbed simple H-bridge motor controllern for Arduino motor_shield
+ * 
+ * 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 "Motor_shield.h"
+
+#include "mbed.h"
+
+Motor_shield::Motor_shield(PinName pwm, PinName fwd, PinName brake):
+        _pwm(pwm), _fwd(fwd), _brake(brake) {
+
+    // Set initial condition of PWM
+    _pwm.period(0.001);
+    _pwm = 0;
+
+    // Initial condition of output enables
+    _fwd = 0;
+    _brake = 0;
+}
+
+void Motor_shield::speed(float speed) {
+    _fwd = (speed > 0.0);
+    _fwd = (speed < 0.0);
+    _pwm = abs(speed);
+}
\ No newline at end of file

diff -r 000000000000 -r 34dc80e97224 Motor_shield.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor_shield.h	Mon Oct 06 11:57:30 2014 +0000
@@ -0,0 +1,56 @@
+/* mbed simple H-bridge motor controller for Arduino motor shield
+ * Copyright (c) 2007-2010, sford, http://mbed.org
+ *
+ * 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_shield {
+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, set low when going backwards
+     * @param brake A DigitalOut, set high when the motor should go backwards
+     */
+    Motor_shield(PinName pwm, PinName fwd, PinName brake);
+    
+    /** Set the speed of the motor
+     * 
+     * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+     */
+    void speed(float speed);
+
+protected:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _brake;
+
+};
+
+#endif
\ No newline at end of file