Revision 1:ddfe18427154, committed 2010-08-03

Comitter:

simon

Date:

Tue Aug 03 15:32:30 2010 +0000

Parent:

0:e3b759ab4b5c

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp	Tue Aug 03 15:32:30 2010 +0000
@@ -0,0 +1,46 @@
+/* mbed simple H-bridge motor controller
+ * Copyright (c) 2007-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "Motor.h"
+
+#include "mbed.h"
+
+Motor::Motor(PinName pwm, PinName fwd, PinName rev):
+        _pwm(pwm), _fwd(fwd), _rev(rev) {
+
+    // Set initial condition of PWM
+    _pwm.period(0.001);
+    _pwm = 0;
+
+    // Initial condition of output enables
+    _fwd = 0;
+    _rev = 0;
+}
+
+void Motor::speed(float speed) {
+    _fwd = (speed > 0.0);
+    _rev = (speed < 0.0);
+    _pwm = abs(speed);
+}
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Tue Aug 03 15:32:30 2010 +0000
@@ -0,0 +1,55 @@
+/* mbed simple H-bridge motor controller
+ * Copyright (c) 2007-2010, sford
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+
+#include "mbed.h"
+
+/** Interface to control a standard DC motor 
+ * with an H-bridge using a PwmOut and 2 DigitalOuts
+ */
+class Motor {
+public:
+
+    /** Create a motor control interface    
+     *
+     * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed
+     * @param fwd A DigitalOut, set high when the motor should go forward
+     * @param rev A DigitalOut, set high when the motor should go backwards
+     */
+    Motor(PinName pwm, PinName fwd, PinName rev);
+    
+    /** Set the speed of the motor
+     * 
+     * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+     */
+    void speed(float speed);
+
+protected:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+
+};
+
+#endif

--- a/main.cpp	Mon Aug 02 18:53:02 2010 +0000
+++ b/main.cpp	Tue Aug 03 15:32:30 2010 +0000
@@ -1,32 +1,23 @@
 #include "mbed.h"
 #include "QEI.h"
+#include "Motor.h"
 
-PwmOut MotorA(p21);
-PwmOut MotorB(p22);
 Serial pc(USBTX, USBRX);
 QEI Encoder(p29 ,p30, NC, 48);
-
-
-int main(){
-float MotorOutput = 0;
-float Percentage = 0;
-float NoPulses;
+Motor Wheel(p23, p21, p22);
 
-Encoder.reset();
+int main() {
+    float MotorOutput = 0;
+    Encoder.reset();
+    while (1) {
+        pc.scanf("%f", &MotorOutput);
+        float NoPulses = Encoder.getPulses();
 
-    while(1) {
-        pc.scanf("%f", &MotorOutput);     
-        NoPulses = Encoder.getPulses();
-        Percentage = (NoPulses / 48) * 100;
+        float Percentage = (NoPulses / 48) * 100;
         pc.printf("%f\n", Percentage);
 
-        if(MotorOutput > 50){
-            MotorA = (MotorOutput - 50) * 2 / 100;
-            MotorB = 0;
-        }else{
-            MotorA = 0;
-            MotorB =  (50 - MotorOutput) * 2 / 100;
-        }
+        Wheel.speed((MotorOutput - 50) * 2 / 100);
+
         wait(0.005);
     }
 }