motorlib.h

00001 /*mbed motorlib Library for H-Bridge Motor Driver Using Bipolar Transistors
00002 *  
00003 * mbed simple H-bridge motor controller
00004 * Copyright (c) 2007-2012, Prabhu Desai
00005 * 
00006 
00007 */
00008  
00009 #ifndef MBED_MOTOR_H
00010 #define MBED_MOTOR_H
00011  
00012 #include "mbed.h"
00013  
00014 #define LM293D_MOTOR_CTRL 
00015 /** Interface to control a standard DC motor 
00016 * 
00017 */
00018 class Motor {
00019     public:
00020     /** Motor Control Type */
00021     enum MCtrlType {
00022           L293D_DISCRETE   /**< 0 or 100% duty cycle with  L293D */
00023         , L293D_PWM        /**< PWM based voltage control  with L293D */
00024         , COMPS_DISCRETE   /**< 0 or 100% duty cycle with transistor circuit*/
00025         , COMPS_PWM        /**< PWM based voltage control with transistor circuit*/       
00026 
00027     };    
00028  
00029 /** Create a motor control interface    
00030 *
00031 * @param r1 DigitalOut, driving  H-bridge NPN transistor on the BOTTOm right
00032 * @param r2 DigitalOut, driving  H-bridge PNP transistor on the TOP right
00033 * @param r3 DigitalOut, driving  H-bridge NPN transistor on the BOTTOm left.
00034 * @param r4 DigitalOut, driving  H-bridge PNP transistor on the TOP left
00035 * @param mctype DigitalOut, driving  H-bridge PNP transistor on the TOP left
00036 */
00037        Motor(PinName r1, PinName r4,MCtrlType mctype =L293D_PWM);
00038        Motor(PinName r1, PinName r2, PinName r3, PinName r4,MCtrlType mctype =L293D_PWM);
00039   
00040 /** Set the motor to coast/roll/off
00041 * 
00042 * @param void
00043 * @return void 
00044 */
00045         void coast(void);  
00046         
00047 /** Rotate motor in clockwise direction.
00048 * 
00049 * @param void 
00050 * @return void
00051 */
00052         void forward(void);
00053         
00054 /** /** Rotate motor in Anti-clockwise direction.
00055 * 
00056 * @param void 
00057 * @return void
00058 */        
00059   
00060         void backward(void);
00061 
00062 /** Stop the motor.
00063 * 
00064 * @param void 
00065 * @return void
00066 */
00067 
00068         void stop(void);
00069    
00070     protected:
00071       #ifdef LM293D_MOTOR_CTRL
00072         PwmOut _r1;
00073         PwmOut _r4;  
00074       #else 
00075         DigitalOut _r1;
00076         DigitalOut _r2;
00077         DigitalOut _r3;
00078         DigitalOut _r4;      
00079       #endif   
00080         MCtrlType _mctype;
00081  
00082 };
00083  
00084 #endif