Simple motor controller library, using DIR, PWM, nSLP pin like pololu.
MotorControler.cpp@9:a5d6835f7168, 2021-02-21 (annotated)
- Committer:
- sgrsn
- Date:
- Sun Feb 21 09:23:01 2021 +0000
- Branch:
- use_base
- Revision:
- 9:a5d6835f7168
- Parent:
- 8:ad953e0e3c0f
- Child:
- 10:4413d4830297
Use base class
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sgrsn | 0:e3207dd7809a | 1 | #include "MotorControler.h" |
sgrsn | 0:e3207dd7809a | 2 | |
sgrsn | 9:a5d6835f7168 | 3 | |
sgrsn | 9:a5d6835f7168 | 4 | |
sgrsn | 9:a5d6835f7168 | 5 | MotorControler::MotorControler(PinName DIR, PinName PWM, PinName nSLP, ControlType control_type) : DIR_(DIR), PWM_(PWM), nSLP_(nSLP) |
sgrsn | 0:e3207dd7809a | 6 | { |
sgrsn | 4:a60052db674c | 7 | disableDriver(); |
sgrsn | 3:7acc824ca344 | 8 | reverse_direction_ = 0; |
sgrsn | 5:b46d1e179eb7 | 9 | current_speed_ = 0; |
sgrsn | 6:7955a025adee | 10 | control_type_ = control_type; |
sgrsn | 0:e3207dd7809a | 11 | } |
sgrsn | 0:e3207dd7809a | 12 | |
sgrsn | 5:b46d1e179eb7 | 13 | float MotorControler::operator = (float speed) { |
sgrsn | 5:b46d1e179eb7 | 14 | setSpeed(speed); |
sgrsn | 5:b46d1e179eb7 | 15 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 16 | } |
sgrsn | 5:b46d1e179eb7 | 17 | |
sgrsn | 5:b46d1e179eb7 | 18 | float MotorControler::operator + (float speed) { |
sgrsn | 5:b46d1e179eb7 | 19 | return current_speed_ + speed; |
sgrsn | 5:b46d1e179eb7 | 20 | } |
sgrsn | 5:b46d1e179eb7 | 21 | |
sgrsn | 5:b46d1e179eb7 | 22 | float MotorControler::operator += (float speed) { |
sgrsn | 5:b46d1e179eb7 | 23 | setSpeed(current_speed_ + speed); |
sgrsn | 5:b46d1e179eb7 | 24 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 25 | } |
sgrsn | 5:b46d1e179eb7 | 26 | |
sgrsn | 5:b46d1e179eb7 | 27 | float MotorControler::operator - (float speed) { |
sgrsn | 5:b46d1e179eb7 | 28 | return current_speed_ - speed; |
sgrsn | 5:b46d1e179eb7 | 29 | } |
sgrsn | 5:b46d1e179eb7 | 30 | |
sgrsn | 5:b46d1e179eb7 | 31 | float MotorControler::operator -= (float speed) { |
sgrsn | 5:b46d1e179eb7 | 32 | setSpeed(current_speed_ - speed); |
sgrsn | 5:b46d1e179eb7 | 33 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 34 | } |
sgrsn | 5:b46d1e179eb7 | 35 | |
sgrsn | 5:b46d1e179eb7 | 36 | float MotorControler::operator * (float val) { |
sgrsn | 5:b46d1e179eb7 | 37 | return current_speed_ * val; |
sgrsn | 5:b46d1e179eb7 | 38 | } |
sgrsn | 5:b46d1e179eb7 | 39 | |
sgrsn | 5:b46d1e179eb7 | 40 | float MotorControler::operator *= (float val) { |
sgrsn | 5:b46d1e179eb7 | 41 | setSpeed(current_speed_ * val); |
sgrsn | 5:b46d1e179eb7 | 42 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 43 | } |
sgrsn | 5:b46d1e179eb7 | 44 | |
sgrsn | 5:b46d1e179eb7 | 45 | float MotorControler::operator / (float val) { |
sgrsn | 5:b46d1e179eb7 | 46 | return current_speed_ / val; |
sgrsn | 5:b46d1e179eb7 | 47 | } |
sgrsn | 5:b46d1e179eb7 | 48 | |
sgrsn | 5:b46d1e179eb7 | 49 | float MotorControler::operator /= (float val) { |
sgrsn | 5:b46d1e179eb7 | 50 | setSpeed(current_speed_ / val); |
sgrsn | 5:b46d1e179eb7 | 51 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 52 | } |
sgrsn | 5:b46d1e179eb7 | 53 | |
sgrsn | 0:e3207dd7809a | 54 | |
sgrsn | 0:e3207dd7809a | 55 | void MotorControler::setSpeed(float speed) |
sgrsn | 0:e3207dd7809a | 56 | { |
sgrsn | 0:e3207dd7809a | 57 | uint8_t reverse = 0; |
sgrsn | 5:b46d1e179eb7 | 58 | // 最大デューティ比で制限 |
sgrsn | 5:b46d1e179eb7 | 59 | if(speed < -1) speed = -1; |
sgrsn | 5:b46d1e179eb7 | 60 | else if(speed > 1) speed = 1; |
sgrsn | 5:b46d1e179eb7 | 61 | current_speed_ = speed; |
sgrsn | 5:b46d1e179eb7 | 62 | |
sgrsn | 0:e3207dd7809a | 63 | if (speed < 0) |
sgrsn | 0:e3207dd7809a | 64 | { |
sgrsn | 0:e3207dd7809a | 65 | speed = -speed; // Make speed a positive quantity |
sgrsn | 0:e3207dd7809a | 66 | reverse = 1; // Preserve the direction |
sgrsn | 0:e3207dd7809a | 67 | } |
sgrsn | 6:7955a025adee | 68 | |
sgrsn | 6:7955a025adee | 69 | int8_t dir = 1; |
sgrsn | 3:7acc824ca344 | 70 | if (reverse ^ FLIP_MOTOR_DIR ^ reverse_direction_) |
sgrsn | 0:e3207dd7809a | 71 | { |
sgrsn | 6:7955a025adee | 72 | // CCW |
sgrsn | 6:7955a025adee | 73 | dir = -1; |
sgrsn | 0:e3207dd7809a | 74 | } |
sgrsn | 0:e3207dd7809a | 75 | else |
sgrsn | 0:e3207dd7809a | 76 | { |
sgrsn | 6:7955a025adee | 77 | // CW |
sgrsn | 6:7955a025adee | 78 | dir = 1; |
sgrsn | 6:7955a025adee | 79 | } |
sgrsn | 6:7955a025adee | 80 | |
sgrsn | 6:7955a025adee | 81 | if(control_type_ == SM) |
sgrsn | 6:7955a025adee | 82 | { |
sgrsn | 6:7955a025adee | 83 | setPinUsingSignMagnitude(dir, speed); |
sgrsn | 6:7955a025adee | 84 | } |
sgrsn | 6:7955a025adee | 85 | else if(control_type_ == LAP) |
sgrsn | 6:7955a025adee | 86 | { |
sgrsn | 6:7955a025adee | 87 | setPinusingLockedUntiPhase(dir, speed); |
sgrsn | 0:e3207dd7809a | 88 | } |
sgrsn | 1:ed3dfe4ecc8a | 89 | } |
sgrsn | 1:ed3dfe4ecc8a | 90 | |
sgrsn | 6:7955a025adee | 91 | void MotorControler::setPinUsingSignMagnitude(int8_t dir, float speed) |
sgrsn | 6:7955a025adee | 92 | { |
sgrsn | 6:7955a025adee | 93 | if(dir > 0) DIR_ = 0; |
sgrsn | 6:7955a025adee | 94 | else if(dir < 0) DIR_ = 1; |
sgrsn | 6:7955a025adee | 95 | PWM_ = speed; |
sgrsn | 6:7955a025adee | 96 | } |
sgrsn | 6:7955a025adee | 97 | |
sgrsn | 6:7955a025adee | 98 | void MotorControler::setPinusingLockedUntiPhase(int8_t dir, float speed) |
sgrsn | 6:7955a025adee | 99 | { |
sgrsn | 6:7955a025adee | 100 | PWM_ = 1.0; |
sgrsn | 6:7955a025adee | 101 | float dir_input = 0.5 + 0.5 * speed * dir; |
sgrsn | 6:7955a025adee | 102 | DIR_ = dir_input; |
sgrsn | 6:7955a025adee | 103 | } |
sgrsn | 6:7955a025adee | 104 | |
sgrsn | 6:7955a025adee | 105 | |
sgrsn | 1:ed3dfe4ecc8a | 106 | void MotorControler::setMotorDirection(MotorDirection dir) |
sgrsn | 1:ed3dfe4ecc8a | 107 | { |
sgrsn | 3:7acc824ca344 | 108 | reverse_direction_ = dir; |
sgrsn | 2:543ff0150de1 | 109 | } |
sgrsn | 2:543ff0150de1 | 110 | |
sgrsn | 2:543ff0150de1 | 111 | void MotorControler::setPwmFrequency(float frequency) |
sgrsn | 2:543ff0150de1 | 112 | { |
sgrsn | 2:543ff0150de1 | 113 | float period = 1.0/frequency; |
sgrsn | 3:7acc824ca344 | 114 | PWM_.period(period); |
sgrsn | 0:e3207dd7809a | 115 | } |