Motor.h

00001 /* mbed simple H-bridge motor controller
00002  * Copyright (c) 2007-2010, sford, 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 #ifndef MBED_MOTOR_H
00024 #define MBED_MOTOR_H
00025 
00026 #include "mbed.h"
00027 
00028 /** Interface to control a standard DC motor 
00029  *
00030  * with an H-bridge using a PwmOut and 2 DigitalOuts
00031  */
00032 class Motor {
00033 public:
00034 
00035     /** Create a motor control interface    
00036      *
00037      * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
00038      * @param fwd A DigitalOut, set high when the motor should go forward
00039      * @param rev A DigitalOut, set high when the motor should go backwards
00040      */
00041     Motor(PinName pwm, PinName fwd, PinName rev);
00042     Motor(PinName pwm, PinName fwd, PinName rev, I2C *i);
00043     /** Set the speed of the motor
00044      * 
00045      * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
00046      */
00047     void speed(float speed);
00048     
00049     // my changes
00050     I2C *_i2c;
00051     int ticks;
00052     char deviceAddress;
00053     int motorID; // for debugging
00054     bool is_reversed; // set this bit for a reversed motor, i.e. motor x2
00055     
00056     void move(int pos); // move to tick = pos
00057     void getTicks();
00058     void resetTicks();
00059     void init(char, int, bool); 
00060 
00061 private:
00062 
00063         
00064 protected:
00065     
00066     PwmOut _pwm;
00067     DigitalOut _fwd;
00068     DigitalOut _rev;
00069 
00070 };
00071 
00072 #endif