Peihsun Yeh
/
ECE4180FinalV4
CarlsenBot working
Motor/Motor.h@0:cdd566529530, 2013-05-01 (annotated)
- Committer:
- pyeh9
- Date:
- Wed May 01 16:00:53 2013 +0000
- Revision:
- 0:cdd566529530
CarlsenBot Working commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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pyeh9 | 0:cdd566529530 | 1 | /* mbed simple H-bridge motor controller |
pyeh9 | 0:cdd566529530 | 2 | * Copyright (c) 2007-2010, sford, http://mbed.org |
pyeh9 | 0:cdd566529530 | 3 | * |
pyeh9 | 0:cdd566529530 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
pyeh9 | 0:cdd566529530 | 5 | * of this software and associated documentation files (the "Software"), to deal |
pyeh9 | 0:cdd566529530 | 6 | * in the Software without restriction, including without limitation the rights |
pyeh9 | 0:cdd566529530 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
pyeh9 | 0:cdd566529530 | 8 | * copies of the Software, and to permit persons to whom the Software is |
pyeh9 | 0:cdd566529530 | 9 | * furnished to do so, subject to the following conditions: |
pyeh9 | 0:cdd566529530 | 10 | * |
pyeh9 | 0:cdd566529530 | 11 | * The above copyright notice and this permission notice shall be included in |
pyeh9 | 0:cdd566529530 | 12 | * all copies or substantial portions of the Software. |
pyeh9 | 0:cdd566529530 | 13 | * |
pyeh9 | 0:cdd566529530 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
pyeh9 | 0:cdd566529530 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
pyeh9 | 0:cdd566529530 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
pyeh9 | 0:cdd566529530 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
pyeh9 | 0:cdd566529530 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
pyeh9 | 0:cdd566529530 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
pyeh9 | 0:cdd566529530 | 20 | * THE SOFTWARE. |
pyeh9 | 0:cdd566529530 | 21 | */ |
pyeh9 | 0:cdd566529530 | 22 | |
pyeh9 | 0:cdd566529530 | 23 | #ifndef MBED_MOTOR_H |
pyeh9 | 0:cdd566529530 | 24 | #define MBED_MOTOR_H |
pyeh9 | 0:cdd566529530 | 25 | |
pyeh9 | 0:cdd566529530 | 26 | #include "mbed.h" |
pyeh9 | 0:cdd566529530 | 27 | |
pyeh9 | 0:cdd566529530 | 28 | /** Interface to control a standard DC motor |
pyeh9 | 0:cdd566529530 | 29 | * |
pyeh9 | 0:cdd566529530 | 30 | * with an H-bridge using a PwmOut and 2 DigitalOuts |
pyeh9 | 0:cdd566529530 | 31 | */ |
pyeh9 | 0:cdd566529530 | 32 | class Motor { |
pyeh9 | 0:cdd566529530 | 33 | public: |
pyeh9 | 0:cdd566529530 | 34 | |
pyeh9 | 0:cdd566529530 | 35 | /** Create a motor control interface |
pyeh9 | 0:cdd566529530 | 36 | * |
pyeh9 | 0:cdd566529530 | 37 | * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed |
pyeh9 | 0:cdd566529530 | 38 | * @param fwd A DigitalOut, set high when the motor should go forward |
pyeh9 | 0:cdd566529530 | 39 | * @param rev A DigitalOut, set high when the motor should go backwards |
pyeh9 | 0:cdd566529530 | 40 | */ |
pyeh9 | 0:cdd566529530 | 41 | Motor(PinName pwm, PinName fwd, PinName rev); |
pyeh9 | 0:cdd566529530 | 42 | Motor(PinName pwm, PinName fwd, PinName rev, I2C *i); |
pyeh9 | 0:cdd566529530 | 43 | /** Set the speed of the motor |
pyeh9 | 0:cdd566529530 | 44 | * |
pyeh9 | 0:cdd566529530 | 45 | * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 |
pyeh9 | 0:cdd566529530 | 46 | */ |
pyeh9 | 0:cdd566529530 | 47 | void speed(float speed); |
pyeh9 | 0:cdd566529530 | 48 | |
pyeh9 | 0:cdd566529530 | 49 | // my changes |
pyeh9 | 0:cdd566529530 | 50 | I2C *_i2c; |
pyeh9 | 0:cdd566529530 | 51 | int ticks; |
pyeh9 | 0:cdd566529530 | 52 | char deviceAddress; |
pyeh9 | 0:cdd566529530 | 53 | int motorID; // for debugging |
pyeh9 | 0:cdd566529530 | 54 | bool is_reversed; // set this bit for a reversed motor, i.e. motor x2 |
pyeh9 | 0:cdd566529530 | 55 | |
pyeh9 | 0:cdd566529530 | 56 | void move(int pos); // move to tick = pos |
pyeh9 | 0:cdd566529530 | 57 | void getTicks(); |
pyeh9 | 0:cdd566529530 | 58 | void resetTicks(); |
pyeh9 | 0:cdd566529530 | 59 | void init(char, int, bool); |
pyeh9 | 0:cdd566529530 | 60 | |
pyeh9 | 0:cdd566529530 | 61 | private: |
pyeh9 | 0:cdd566529530 | 62 | |
pyeh9 | 0:cdd566529530 | 63 | |
pyeh9 | 0:cdd566529530 | 64 | protected: |
pyeh9 | 0:cdd566529530 | 65 | |
pyeh9 | 0:cdd566529530 | 66 | PwmOut _pwm; |
pyeh9 | 0:cdd566529530 | 67 | DigitalOut _fwd; |
pyeh9 | 0:cdd566529530 | 68 | DigitalOut _rev; |
pyeh9 | 0:cdd566529530 | 69 | |
pyeh9 | 0:cdd566529530 | 70 | }; |
pyeh9 | 0:cdd566529530 | 71 | |
pyeh9 | 0:cdd566529530 | 72 | #endif |