MotorControler.h

00001 #ifndef MOTORCONTROLER_H
00002 #define MOTORCONTROLER_H
00003 #include "mbed.h"
00004 
00005 #define FLIP_MOTOR_DIR 0
00006 
00007 typedef enum{
00008     CW = 0,
00009     CCW = 1,
00010 }MotorDirection;
00011 
00012 typedef enum{
00013     SM = 0,
00014     LAP = 1,
00015 }ControlType;
00016 
00017 class MotorControler
00018 {
00019     public:
00020     MotorControler(PinName DIR, PinName PWM, PinName nSLP, ControlType control_type=SM);
00021     float operator = (float speed);
00022     float operator + (float speed);
00023     float operator += (float speed);
00024     float operator - (float speed);
00025     float operator -= (float speed);
00026     float operator * (float val);
00027     float operator *= (float val);
00028     float operator / (float val);
00029     float operator /= (float val);
00030     
00031     virtual void enableDriver(){}
00032     virtual void disableDriver(){}
00033     
00034     // speed(-1.0 - 1.0)
00035     void setSpeed(float speed);
00036     
00037     // dir(CW, or CCW)
00038     void setMotorDirection(MotorDirection dir);
00039     void setPinUsingSignMagnitude(int8_t dir, float speed);
00040     void setPinusingLockedUntiPhase(int8_t dir, float speed);
00041     
00042     // set PWM frequency
00043     // frequency[Hz]
00044     void setPwmFrequency(float frequency);
00045     
00046     protected:
00047     // if you want use LAP control, change DigitalOut -> PwmOut DIR_
00048     DigitalOut DIR_;
00049     PwmOut PWM_;
00050     DigitalOut nSLP_;
00051     uint8_t reverse_direction_;
00052     ControlType control_type_;
00053     float current_speed_;
00054 };
00055 
00056 class POLOLUControler : public MotorControler
00057 {
00058     public:
00059     POLOLUControler(PinName DIR, PinName PWM, PinName nSLP, ControlType control_type=SM) : MotorControler(DIR, PWM, nSLP, control_type)
00060     {
00061     }
00062     
00063     virtual void enableDriver()
00064     {
00065         nSLP_ = 1;
00066     }
00067     
00068     virtual void disableDriver()
00069     {
00070         nSLP_ = 0;
00071     }
00072     
00073     using MotorControler::operator=;
00074     using MotorControler::operator+;
00075     using MotorControler::operator+=;
00076     using MotorControler::operator-;
00077     using MotorControler::operator-=;
00078     using MotorControler::operator*;
00079     using MotorControler::operator*=;
00080     using MotorControler::operator/;
00081     using MotorControler::operator/=;
00082 };
00083 
00084 
00085 class TEXNITISControler : public MotorControler
00086 {
00087     public:
00088     TEXNITISControler(PinName DIR, PinName PWM, PinName nSLP, ControlType control_type=SM) : MotorControler(DIR, PWM, nSLP, control_type)
00089     {
00090         nSLP_ = 1;
00091     }
00092     
00093     virtual void enableDriver()
00094     {
00095         // do nothing;
00096     }
00097     
00098     virtual void disableDriver()
00099     {
00100         PWM_ = 0;
00101     }
00102     
00103     using MotorControler::operator=;
00104     using MotorControler::operator+;
00105     using MotorControler::operator+=;
00106     using MotorControler::operator-;
00107     using MotorControler::operator-=;
00108     using MotorControler::operator*;
00109     using MotorControler::operator*=;
00110     using MotorControler::operator/;
00111     using MotorControler::operator/=;
00112 };
00113 
00114 
00115 #endif