motorlib.cpp

00001 /* mbed motorlib Library for H-Bridge Motor Driver Using Bipolar Transistors
00002  * Copyright (c) 2007-2012,  Prabhu Desai http://mbed.org
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #include "motorlib.h"
00024 #include "mbed.h"
00025 
00026 #ifdef LM293D_MOTOR_CTRL
00027 Motor::Motor(PinName r1, PinName r4, MCtrlType mctype):
00028     _r1(r1), _r4(r4),_mctype(mctype)  {
00029  
00030     _r1=0 ;_r4=0;
00031  
00032 }
00033 
00034 void Motor::coast(void)
00035 {
00036   if((_mctype == L293D_DISCRETE) || (_mctype == L293D_PWM)){
00037     _r1=1 ;_r4=1;
00038   }
00039 }
00040 
00041 void Motor::forward(void)
00042 {
00043   if(_mctype == L293D_PWM){
00044     _r1=0 ;
00045      for(float p = 0.0f; p < 1.0f; p += 0.1f) {
00046         _r4 = p;
00047         wait(0.1);
00048       }      
00049   }else if (_mctype == L293D_DISCRETE) {
00050     _r1=0 ;_r4 = 1;
00051   }
00052 
00053 }
00054 void Motor::backward(void)
00055 {
00056   if (_mctype == L293D_PWM){
00057     _r4=0 ;
00058      for(float p = 0.0f; p < 1.0f; p += 0.1f) {
00059         _r1 = p;
00060         wait(0.1);
00061       }      
00062   }else if (_mctype == L293D_DISCRETE){
00063     _r4=0 ;_r1 =1;
00064   } 
00065 }
00066 
00067 void Motor::stop(void)
00068 {
00069   _r1=1; _r4=1; 
00070 }
00071 
00072 #else 
00073 Motor::Motor(PinName r1, PinName r2, PinName r3, PinName r4, MCtrlType mctype):
00074     _r1(r1), _r2(r2), _r3(r3), _r4(r4),_mctype(mctype)  {
00075      _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
00076 }
00077 
00078 void Motor::coast(void)
00079 {
00080   _r1=0 ; _r2=1  ;_r3=0;_r4=1;
00081 }
00082 
00083 void Motor::forward(void)
00084 {   
00085   _r1=0 ; _r2=0  ;_r3=1  ;_r4=1;
00086  
00087 }
00088 
00089 void Motor::backward(void)
00090 { 
00091    _r1=1 ; _r2=1  ;_r3=0  ;_r4=0;
00092 }
00093 
00094 void Motor::stop(void)
00095 {
00096   _r1=1 ; _r2=1  ;_r3=1  ;_r4=1;
00097 
00098 }
00099  
00100 #endif
00101  
00102 /*
00103 //Test code for driving h-Bridge
00104 // Assume there are two motors connected to a chasis 
00105 // a right and a left motor.
00106 
00107 
00108 Motor  left_motor(LED1,LED2,LED3,LED4);
00109 Motor  right_motor(LED1,LED2,LED3,LED4);
00110 
00111 void main(){
00112   //To drive the robot forward  
00113   left_motor.forward();
00114   right_motor.backward();
00115   
00116   // To drive the robot backward  
00117   left_motor.backward();
00118   right_motor.forward();  
00119   
00120   // To turn the robot LEFT 
00121   left_motor.stop();
00122   right_motor.forward();    
00123 
00124   // To turn the robot RIGHT  
00125   left_motor.forward();
00126   right_motor.stop();    
00127 
00128 }
00129 
00130 */