Simple motor controller library, using DIR, PWM, nSLP pin like pololu.
MotorControler.cpp@11:7493df5c5c40, 2021-02-21 (annotated)
- Committer:
- sgrsn
- Date:
- Sun Feb 21 10:34:19 2021 +0000
- Branch:
- use_base
- Revision:
- 11:7493df5c5c40
- Parent:
- 10:4413d4830297
Change nSLP pin default output when using TEXNITISController
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 | 10:4413d4830297 | 3 | /*example******************************************************************* |
sgrsn | 10:4413d4830297 | 4 | |
sgrsn | 10:4413d4830297 | 5 | #include "mbed.h" |
sgrsn | 10:4413d4830297 | 6 | #include <math.h> |
sgrsn | 10:4413d4830297 | 7 | #include "MotorControler.h" |
sgrsn | 10:4413d4830297 | 8 | |
sgrsn | 10:4413d4830297 | 9 | int main() { |
sgrsn | 10:4413d4830297 | 10 | TEXNITISControler MOTOR(D8,D6,D7); |
sgrsn | 10:4413d4830297 | 11 | Serial PC(USBTX, USBRX); |
sgrsn | 10:4413d4830297 | 12 | |
sgrsn | 10:4413d4830297 | 13 | MOTOR.setPwmFrequency(20000); |
sgrsn | 10:4413d4830297 | 14 | MOTOR.enableDriver(); |
sgrsn | 10:4413d4830297 | 15 | |
sgrsn | 10:4413d4830297 | 16 | for(int i = 0; i < 360; i++) |
sgrsn | 10:4413d4830297 | 17 | { |
sgrsn | 10:4413d4830297 | 18 | float speed = MOTOR = sin((float)i * 3.14/180); |
sgrsn | 10:4413d4830297 | 19 | wait_ms(20); |
sgrsn | 10:4413d4830297 | 20 | PC.printf("%f\r\n", speed); |
sgrsn | 10:4413d4830297 | 21 | } |
sgrsn | 10:4413d4830297 | 22 | |
sgrsn | 10:4413d4830297 | 23 | MOTOR = 0; |
sgrsn | 10:4413d4830297 | 24 | |
sgrsn | 10:4413d4830297 | 25 | while(1) |
sgrsn | 10:4413d4830297 | 26 | { |
sgrsn | 10:4413d4830297 | 27 | } |
sgrsn | 10:4413d4830297 | 28 | } |
sgrsn | 10:4413d4830297 | 29 | |
sgrsn | 10:4413d4830297 | 30 | ********************************************************************/ |
sgrsn | 10:4413d4830297 | 31 | |
sgrsn | 9:a5d6835f7168 | 32 | |
sgrsn | 9:a5d6835f7168 | 33 | |
sgrsn | 9:a5d6835f7168 | 34 | MotorControler::MotorControler(PinName DIR, PinName PWM, PinName nSLP, ControlType control_type) : DIR_(DIR), PWM_(PWM), nSLP_(nSLP) |
sgrsn | 0:e3207dd7809a | 35 | { |
sgrsn | 4:a60052db674c | 36 | disableDriver(); |
sgrsn | 3:7acc824ca344 | 37 | reverse_direction_ = 0; |
sgrsn | 5:b46d1e179eb7 | 38 | current_speed_ = 0; |
sgrsn | 6:7955a025adee | 39 | control_type_ = control_type; |
sgrsn | 0:e3207dd7809a | 40 | } |
sgrsn | 0:e3207dd7809a | 41 | |
sgrsn | 5:b46d1e179eb7 | 42 | float MotorControler::operator = (float speed) { |
sgrsn | 5:b46d1e179eb7 | 43 | setSpeed(speed); |
sgrsn | 5:b46d1e179eb7 | 44 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 45 | } |
sgrsn | 5:b46d1e179eb7 | 46 | |
sgrsn | 5:b46d1e179eb7 | 47 | float MotorControler::operator + (float speed) { |
sgrsn | 5:b46d1e179eb7 | 48 | return current_speed_ + speed; |
sgrsn | 5:b46d1e179eb7 | 49 | } |
sgrsn | 5:b46d1e179eb7 | 50 | |
sgrsn | 5:b46d1e179eb7 | 51 | float MotorControler::operator += (float speed) { |
sgrsn | 5:b46d1e179eb7 | 52 | setSpeed(current_speed_ + speed); |
sgrsn | 5:b46d1e179eb7 | 53 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 54 | } |
sgrsn | 5:b46d1e179eb7 | 55 | |
sgrsn | 5:b46d1e179eb7 | 56 | float MotorControler::operator - (float speed) { |
sgrsn | 5:b46d1e179eb7 | 57 | return current_speed_ - speed; |
sgrsn | 5:b46d1e179eb7 | 58 | } |
sgrsn | 5:b46d1e179eb7 | 59 | |
sgrsn | 5:b46d1e179eb7 | 60 | float MotorControler::operator -= (float speed) { |
sgrsn | 5:b46d1e179eb7 | 61 | setSpeed(current_speed_ - speed); |
sgrsn | 5:b46d1e179eb7 | 62 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 63 | } |
sgrsn | 5:b46d1e179eb7 | 64 | |
sgrsn | 5:b46d1e179eb7 | 65 | float MotorControler::operator * (float val) { |
sgrsn | 5:b46d1e179eb7 | 66 | return current_speed_ * val; |
sgrsn | 5:b46d1e179eb7 | 67 | } |
sgrsn | 5:b46d1e179eb7 | 68 | |
sgrsn | 5:b46d1e179eb7 | 69 | float MotorControler::operator *= (float val) { |
sgrsn | 5:b46d1e179eb7 | 70 | setSpeed(current_speed_ * val); |
sgrsn | 5:b46d1e179eb7 | 71 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 72 | } |
sgrsn | 5:b46d1e179eb7 | 73 | |
sgrsn | 5:b46d1e179eb7 | 74 | float MotorControler::operator / (float val) { |
sgrsn | 5:b46d1e179eb7 | 75 | return current_speed_ / val; |
sgrsn | 5:b46d1e179eb7 | 76 | } |
sgrsn | 5:b46d1e179eb7 | 77 | |
sgrsn | 5:b46d1e179eb7 | 78 | float MotorControler::operator /= (float val) { |
sgrsn | 5:b46d1e179eb7 | 79 | setSpeed(current_speed_ / val); |
sgrsn | 5:b46d1e179eb7 | 80 | return current_speed_; |
sgrsn | 5:b46d1e179eb7 | 81 | } |
sgrsn | 5:b46d1e179eb7 | 82 | |
sgrsn | 0:e3207dd7809a | 83 | |
sgrsn | 0:e3207dd7809a | 84 | void MotorControler::setSpeed(float speed) |
sgrsn | 0:e3207dd7809a | 85 | { |
sgrsn | 0:e3207dd7809a | 86 | uint8_t reverse = 0; |
sgrsn | 5:b46d1e179eb7 | 87 | // 最大デューティ比で制限 |
sgrsn | 5:b46d1e179eb7 | 88 | if(speed < -1) speed = -1; |
sgrsn | 5:b46d1e179eb7 | 89 | else if(speed > 1) speed = 1; |
sgrsn | 5:b46d1e179eb7 | 90 | current_speed_ = speed; |
sgrsn | 5:b46d1e179eb7 | 91 | |
sgrsn | 0:e3207dd7809a | 92 | if (speed < 0) |
sgrsn | 0:e3207dd7809a | 93 | { |
sgrsn | 0:e3207dd7809a | 94 | speed = -speed; // Make speed a positive quantity |
sgrsn | 0:e3207dd7809a | 95 | reverse = 1; // Preserve the direction |
sgrsn | 0:e3207dd7809a | 96 | } |
sgrsn | 6:7955a025adee | 97 | |
sgrsn | 6:7955a025adee | 98 | int8_t dir = 1; |
sgrsn | 3:7acc824ca344 | 99 | if (reverse ^ FLIP_MOTOR_DIR ^ reverse_direction_) |
sgrsn | 0:e3207dd7809a | 100 | { |
sgrsn | 6:7955a025adee | 101 | // CCW |
sgrsn | 6:7955a025adee | 102 | dir = -1; |
sgrsn | 0:e3207dd7809a | 103 | } |
sgrsn | 0:e3207dd7809a | 104 | else |
sgrsn | 0:e3207dd7809a | 105 | { |
sgrsn | 6:7955a025adee | 106 | // CW |
sgrsn | 6:7955a025adee | 107 | dir = 1; |
sgrsn | 6:7955a025adee | 108 | } |
sgrsn | 6:7955a025adee | 109 | |
sgrsn | 6:7955a025adee | 110 | if(control_type_ == SM) |
sgrsn | 6:7955a025adee | 111 | { |
sgrsn | 6:7955a025adee | 112 | setPinUsingSignMagnitude(dir, speed); |
sgrsn | 6:7955a025adee | 113 | } |
sgrsn | 6:7955a025adee | 114 | else if(control_type_ == LAP) |
sgrsn | 6:7955a025adee | 115 | { |
sgrsn | 6:7955a025adee | 116 | setPinusingLockedUntiPhase(dir, speed); |
sgrsn | 0:e3207dd7809a | 117 | } |
sgrsn | 1:ed3dfe4ecc8a | 118 | } |
sgrsn | 1:ed3dfe4ecc8a | 119 | |
sgrsn | 6:7955a025adee | 120 | void MotorControler::setPinUsingSignMagnitude(int8_t dir, float speed) |
sgrsn | 6:7955a025adee | 121 | { |
sgrsn | 6:7955a025adee | 122 | if(dir > 0) DIR_ = 0; |
sgrsn | 6:7955a025adee | 123 | else if(dir < 0) DIR_ = 1; |
sgrsn | 6:7955a025adee | 124 | PWM_ = speed; |
sgrsn | 6:7955a025adee | 125 | } |
sgrsn | 6:7955a025adee | 126 | |
sgrsn | 6:7955a025adee | 127 | void MotorControler::setPinusingLockedUntiPhase(int8_t dir, float speed) |
sgrsn | 6:7955a025adee | 128 | { |
sgrsn | 6:7955a025adee | 129 | PWM_ = 1.0; |
sgrsn | 6:7955a025adee | 130 | float dir_input = 0.5 + 0.5 * speed * dir; |
sgrsn | 6:7955a025adee | 131 | DIR_ = dir_input; |
sgrsn | 6:7955a025adee | 132 | } |
sgrsn | 6:7955a025adee | 133 | |
sgrsn | 6:7955a025adee | 134 | |
sgrsn | 1:ed3dfe4ecc8a | 135 | void MotorControler::setMotorDirection(MotorDirection dir) |
sgrsn | 1:ed3dfe4ecc8a | 136 | { |
sgrsn | 3:7acc824ca344 | 137 | reverse_direction_ = dir; |
sgrsn | 2:543ff0150de1 | 138 | } |
sgrsn | 2:543ff0150de1 | 139 | |
sgrsn | 2:543ff0150de1 | 140 | void MotorControler::setPwmFrequency(float frequency) |
sgrsn | 2:543ff0150de1 | 141 | { |
sgrsn | 2:543ff0150de1 | 142 | float period = 1.0/frequency; |
sgrsn | 3:7acc824ca344 | 143 | PWM_.period(period); |
sgrsn | 0:e3207dd7809a | 144 | } |