Prabhu Desai / motorlib

Library for H-Bridge Motor Driver Using Bipolar Transistors

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

Committer:
prabhuvd
Date:
Sat Jan 26 15:00:23 2013 +0000
Revision:
2:c1f9f9d74f35
Parent:
1:b690c5eb9469 
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 *
prabhuvd 0:155daae8a9fa 3 * mbed simple H-bridge motor controller
prabhuvd 0:155daae8a9fa 4 * Copyright (c) 2007-2012, Prabhu Desai
prabhuvd 0:155daae8a9fa 5 *
prabhuvd 0:155daae8a9fa 6
prabhuvd 0:155daae8a9fa 7 */
prabhuvd 0:155daae8a9fa 8
prabhuvd 0:155daae8a9fa 9 #ifndef MBED_MOTOR_H
prabhuvd 0:155daae8a9fa 10 #define MBED_MOTOR_H
prabhuvd 0:155daae8a9fa 11
prabhuvd 0:155daae8a9fa 12 #include "mbed.h"
prabhuvd 0:155daae8a9fa 13
prabhuvd 2:c1f9f9d74f35 14 #define LM293D_MOTOR_CTRL
prabhuvd 0:155daae8a9fa 15 /** Interface to control a standard DC motor
prabhuvd 0:155daae8a9fa 16 *
prabhuvd 0:155daae8a9fa 17 */
prabhuvd 0:155daae8a9fa 18 class Motor {
prabhuvd 0:155daae8a9fa 19 public:
prabhuvd 2:c1f9f9d74f35 20 /** Motor Control Type */
prabhuvd 2:c1f9f9d74f35 21 enum MCtrlType {
prabhuvd 2:c1f9f9d74f35 22 L293D_DISCRETE /**< 0 or 100% duty cycle with L293D */
prabhuvd 2:c1f9f9d74f35 23 , L293D_PWM /**< PWM based voltage control with L293D */
prabhuvd 2:c1f9f9d74f35 24 , COMPS_DISCRETE /**< 0 or 100% duty cycle with transistor circuit*/
prabhuvd 2:c1f9f9d74f35 25 , COMPS_PWM /**< PWM based voltage control with transistor circuit*/
prabhuvd 2:c1f9f9d74f35 26
prabhuvd 2:c1f9f9d74f35 27 };
prabhuvd 0:155daae8a9fa 28
prabhuvd 0:155daae8a9fa 29 /** Create a motor control interface
prabhuvd 0:155daae8a9fa 30 *
prabhuvd 0:155daae8a9fa 31 * @param r1 DigitalOut, driving H-bridge NPN transistor on the BOTTOm right
prabhuvd 1:b690c5eb9469 32 * @param r2 DigitalOut, driving H-bridge PNP transistor on the TOP right
prabhuvd 0:155daae8a9fa 33 * @param r3 DigitalOut, driving H-bridge NPN transistor on the BOTTOm left.
prabhuvd 1:b690c5eb9469 34 * @param r4 DigitalOut, driving H-bridge PNP transistor on the TOP left
prabhuvd 2:c1f9f9d74f35 35 * @param mctype DigitalOut, driving H-bridge PNP transistor on the TOP left
prabhuvd 0:155daae8a9fa 36 */
prabhuvd 2:c1f9f9d74f35 37 Motor(PinName r1, PinName r4,MCtrlType mctype =L293D_PWM);
prabhuvd 2:c1f9f9d74f35 38 Motor(PinName r1, PinName r2, PinName r3, PinName r4,MCtrlType mctype =L293D_PWM);
prabhuvd 0:155daae8a9fa 39
prabhuvd 0:155daae8a9fa 40 /** Set the motor to coast/roll/off
prabhuvd 0:155daae8a9fa 41 *
prabhuvd 0:155daae8a9fa 42 * @param void
prabhuvd 0:155daae8a9fa 43 * @return void
prabhuvd 0:155daae8a9fa 44 */
prabhuvd 0:155daae8a9fa 45 void coast(void);
prabhuvd 0:155daae8a9fa 46
prabhuvd 0:155daae8a9fa 47 /** Rotate motor in clockwise direction.
prabhuvd 0:155daae8a9fa 48 *
prabhuvd 0:155daae8a9fa 49 * @param void
prabhuvd 0:155daae8a9fa 50 * @return void
prabhuvd 0:155daae8a9fa 51 */
prabhuvd 0:155daae8a9fa 52 void forward(void);
prabhuvd 0:155daae8a9fa 53
prabhuvd 0:155daae8a9fa 54 /** /** Rotate motor in Anti-clockwise direction.
prabhuvd 0:155daae8a9fa 55 *
prabhuvd 0:155daae8a9fa 56 * @param void
prabhuvd 0:155daae8a9fa 57 * @return void
prabhuvd 0:155daae8a9fa 58 */
prabhuvd 0:155daae8a9fa 59
prabhuvd 0:155daae8a9fa 60 void backward(void);
prabhuvd 0:155daae8a9fa 61
prabhuvd 0:155daae8a9fa 62 /** Stop the motor.
prabhuvd 0:155daae8a9fa 63 *
prabhuvd 0:155daae8a9fa 64 * @param void
prabhuvd 0:155daae8a9fa 65 * @return void
prabhuvd 0:155daae8a9fa 66 */
prabhuvd 0:155daae8a9fa 67
prabhuvd 0:155daae8a9fa 68 void stop(void);
prabhuvd 0:155daae8a9fa 69
prabhuvd 0:155daae8a9fa 70 protected:
prabhuvd 2:c1f9f9d74f35 71 #ifdef LM293D_MOTOR_CTRL
prabhuvd 2:c1f9f9d74f35 72 PwmOut _r1;
prabhuvd 2:c1f9f9d74f35 73 PwmOut _r4;
prabhuvd 2:c1f9f9d74f35 74 #else
prabhuvd 0:155daae8a9fa 75 DigitalOut _r1;
prabhuvd 0:155daae8a9fa 76 DigitalOut _r2;
prabhuvd 0:155daae8a9fa 77 DigitalOut _r3;
prabhuvd 2:c1f9f9d74f35 78 DigitalOut _r4;
prabhuvd 2:c1f9f9d74f35 79 #endif
prabhuvd 2:c1f9f9d74f35 80 MCtrlType _mctype;
prabhuvd 0:155daae8a9fa 81
prabhuvd 0:155daae8a9fa 82 };
prabhuvd 0:155daae8a9fa 83
prabhuvd 0:155daae8a9fa 84 #endif