Prabhu Desai / motorlib

Library for H-Bridge Motor Driver Using Bipolar Transistors

motorlib.cpp@2:c1f9f9d74f35, 2013-01-26 (annotated)

Committer:
prabhuvd
Date:
Sat Jan 26 15:00:23 2013 +0000
Revision:
2:c1f9f9d74f35
Parent:
0:155daae8a9fa 
LM293D and PWM based drive support added.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
prabhuvd 0:155daae8a9fa 1 /* mbed motorlib Library for H-Bridge Motor Driver Using Bipolar Transistors
prabhuvd 0:155daae8a9fa 2 * Copyright (c) 2007-2012, Prabhu Desai http://mbed.org
prabhuvd 0:155daae8a9fa 3 *
prabhuvd 0:155daae8a9fa 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
prabhuvd 0:155daae8a9fa 5 * of this software and associated documentation files (the "Software"), to deal
prabhuvd 0:155daae8a9fa 6 * in the Software without restriction, including without limitation the rights
prabhuvd 0:155daae8a9fa 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
prabhuvd 0:155daae8a9fa 8 * copies of the Software, and to permit persons to whom the Software is
prabhuvd 0:155daae8a9fa 9 * furnished to do so, subject to the following conditions:
prabhuvd 0:155daae8a9fa 10 *
prabhuvd 0:155daae8a9fa 11 * The above copyright notice and this permission notice shall be included in
prabhuvd 0:155daae8a9fa 12 * all copies or substantial portions of the Software.
prabhuvd 0:155daae8a9fa 13 *
prabhuvd 0:155daae8a9fa 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
prabhuvd 0:155daae8a9fa 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
prabhuvd 0:155daae8a9fa 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
prabhuvd 0:155daae8a9fa 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
prabhuvd 0:155daae8a9fa 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
prabhuvd 0:155daae8a9fa 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
prabhuvd 0:155daae8a9fa 20 * THE SOFTWARE.
prabhuvd 0:155daae8a9fa 21 */
prabhuvd 0:155daae8a9fa 22
prabhuvd 0:155daae8a9fa 23 #include "motorlib.h"
prabhuvd 0:155daae8a9fa 24 #include "mbed.h"
prabhuvd 0:155daae8a9fa 25
prabhuvd 2:c1f9f9d74f35 26 #ifdef LM293D_MOTOR_CTRL
prabhuvd 2:c1f9f9d74f35 27 Motor::Motor(PinName r1, PinName r4, MCtrlType mctype):
prabhuvd 2:c1f9f9d74f35 28 _r1(r1), _r4(r4),_mctype(mctype) {
prabhuvd 2:c1f9f9d74f35 29
prabhuvd 2:c1f9f9d74f35 30 _r1=0 ;_r4=0;
prabhuvd 2:c1f9f9d74f35 31
prabhuvd 2:c1f9f9d74f35 32 }
prabhuvd 0:155daae8a9fa 33
prabhuvd 0:155daae8a9fa 34 void Motor::coast(void)
prabhuvd 0:155daae8a9fa 35 {
prabhuvd 2:c1f9f9d74f35 36 if((_mctype == L293D_DISCRETE) || (_mctype == L293D_PWM)){
prabhuvd 2:c1f9f9d74f35 37 _r1=1 ;_r4=1;
prabhuvd 2:c1f9f9d74f35 38 }
prabhuvd 0:155daae8a9fa 39 }
prabhuvd 2:c1f9f9d74f35 40
prabhuvd 0:155daae8a9fa 41 void Motor::forward(void)
prabhuvd 0:155daae8a9fa 42 {
prabhuvd 2:c1f9f9d74f35 43 if(_mctype == L293D_PWM){
prabhuvd 2:c1f9f9d74f35 44 _r1=0 ;
prabhuvd 2:c1f9f9d74f35 45 for(float p = 0.0f; p < 1.0f; p += 0.1f) {
prabhuvd 2:c1f9f9d74f35 46 _r4 = p;
prabhuvd 2:c1f9f9d74f35 47 wait(0.1);
prabhuvd 2:c1f9f9d74f35 48 }
prabhuvd 2:c1f9f9d74f35 49 }else if (_mctype == L293D_DISCRETE) {
prabhuvd 2:c1f9f9d74f35 50 _r1=0 ;_r4 = 1;
prabhuvd 2:c1f9f9d74f35 51 }
prabhuvd 2:c1f9f9d74f35 52
prabhuvd 2:c1f9f9d74f35 53 }
prabhuvd 2:c1f9f9d74f35 54 void Motor::backward(void)
prabhuvd 2:c1f9f9d74f35 55 {
prabhuvd 2:c1f9f9d74f35 56 if (_mctype == L293D_PWM){
prabhuvd 2:c1f9f9d74f35 57 _r4=0 ;
prabhuvd 2:c1f9f9d74f35 58 for(float p = 0.0f; p < 1.0f; p += 0.1f) {
prabhuvd 2:c1f9f9d74f35 59 _r1 = p;
prabhuvd 2:c1f9f9d74f35 60 wait(0.1);
prabhuvd 2:c1f9f9d74f35 61 }
prabhuvd 2:c1f9f9d74f35 62 }else if (_mctype == L293D_DISCRETE){
prabhuvd 2:c1f9f9d74f35 63 _r4=0 ;_r1 =1;
prabhuvd 2:c1f9f9d74f35 64 }
prabhuvd 2:c1f9f9d74f35 65 }
prabhuvd 2:c1f9f9d74f35 66
prabhuvd 2:c1f9f9d74f35 67 void Motor::stop(void)
prabhuvd 2:c1f9f9d74f35 68 {
prabhuvd 2:c1f9f9d74f35 69 _r1=1; _r4=1;
prabhuvd 2:c1f9f9d74f35 70 }
prabhuvd 2:c1f9f9d74f35 71
prabhuvd 2:c1f9f9d74f35 72 #else
prabhuvd 2:c1f9f9d74f35 73 Motor::Motor(PinName r1, PinName r2, PinName r3, PinName r4, MCtrlType mctype):
prabhuvd 2:c1f9f9d74f35 74 _r1(r1), _r2(r2), _r3(r3), _r4(r4),_mctype(mctype) {
prabhuvd 2:c1f9f9d74f35 75 _r1=1 ; _r2=1 ;_r3=1 ;_r4=1;
prabhuvd 2:c1f9f9d74f35 76 }
prabhuvd 2:c1f9f9d74f35 77
prabhuvd 2:c1f9f9d74f35 78 void Motor::coast(void)
prabhuvd 2:c1f9f9d74f35 79 {
prabhuvd 2:c1f9f9d74f35 80 _r1=0 ; _r2=1 ;_r3=0;_r4=1;
prabhuvd 2:c1f9f9d74f35 81 }
prabhuvd 2:c1f9f9d74f35 82
prabhuvd 2:c1f9f9d74f35 83 void Motor::forward(void)
prabhuvd 2:c1f9f9d74f35 84 {
prabhuvd 2:c1f9f9d74f35 85 _r1=0 ; _r2=0 ;_r3=1 ;_r4=1;
prabhuvd 0:155daae8a9fa 86
prabhuvd 0:155daae8a9fa 87 }
prabhuvd 2:c1f9f9d74f35 88
prabhuvd 0:155daae8a9fa 89 void Motor::backward(void)
prabhuvd 2:c1f9f9d74f35 90 {
prabhuvd 0:155daae8a9fa 91 _r1=1 ; _r2=1 ;_r3=0 ;_r4=0;
prabhuvd 0:155daae8a9fa 92 }
prabhuvd 0:155daae8a9fa 93
prabhuvd 0:155daae8a9fa 94 void Motor::stop(void)
prabhuvd 0:155daae8a9fa 95 {
prabhuvd 0:155daae8a9fa 96 _r1=1 ; _r2=1 ;_r3=1 ;_r4=1;
prabhuvd 2:c1f9f9d74f35 97
prabhuvd 0:155daae8a9fa 98 }
prabhuvd 0:155daae8a9fa 99
prabhuvd 2:c1f9f9d74f35 100 #endif
prabhuvd 2:c1f9f9d74f35 101
prabhuvd 0:155daae8a9fa 102 /*
prabhuvd 0:155daae8a9fa 103 //Test code for driving h-Bridge
prabhuvd 0:155daae8a9fa 104 // Assume there are two motors connected to a chasis
prabhuvd 0:155daae8a9fa 105 // a right and a left motor.
prabhuvd 0:155daae8a9fa 106
prabhuvd 0:155daae8a9fa 107
prabhuvd 0:155daae8a9fa 108 Motor left_motor(LED1,LED2,LED3,LED4);
prabhuvd 0:155daae8a9fa 109 Motor right_motor(LED1,LED2,LED3,LED4);
prabhuvd 0:155daae8a9fa 110
prabhuvd 0:155daae8a9fa 111 void main(){
prabhuvd 0:155daae8a9fa 112 //To drive the robot forward
prabhuvd 0:155daae8a9fa 113 left_motor.forward();
prabhuvd 0:155daae8a9fa 114 right_motor.backward();
prabhuvd 0:155daae8a9fa 115
prabhuvd 0:155daae8a9fa 116 // To drive the robot backward
prabhuvd 0:155daae8a9fa 117 left_motor.backward();
prabhuvd 0:155daae8a9fa 118 right_motor.forward();
prabhuvd 0:155daae8a9fa 119
prabhuvd 0:155daae8a9fa 120 // To turn the robot LEFT
prabhuvd 0:155daae8a9fa 121 left_motor.stop();
prabhuvd 0:155daae8a9fa 122 right_motor.forward();
prabhuvd 0:155daae8a9fa 123
prabhuvd 0:155daae8a9fa 124 // To turn the robot RIGHT
prabhuvd 0:155daae8a9fa 125 left_motor.forward();
prabhuvd 0:155daae8a9fa 126 right_motor.stop();
prabhuvd 0:155daae8a9fa 127
prabhuvd 0:155daae8a9fa 128 }
prabhuvd 0:155daae8a9fa 129
prabhuvd 0:155daae8a9fa 130 */