Spiral Ray
Notice: Please use two pins which use same TIMER to synchronize timer phase. Sample program: http://mbed.org/users/spiralray/code/Nucleo_motor_LockedAntiphase/
Dependents: Nucleo_motor_LockedAntiphase
Revision 0:62943ca4f7a0, committed 2014-04-23
- Comitter:
- spiralray
- Date:
- Wed Apr 23 16:32:53 2014 +0000
- Commit message:
- A motor control library using two PWM outputs.
Changed in this revision
| motor_lockedantiphase.cpp | Show annotated file Show diff for this revision Revisions of this file |
| motor_lockedantiphase.h | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_lockedantiphase.cpp Wed Apr 23 16:32:53 2014 +0000
@@ -0,0 +1,19 @@
+/*
+ * motor_lockedantiphase.cpp
+ *
+ * Created on: 2014/04/23
+ * Author: spiralray
+ */
+
+#include "motor_lockedantiphase.h"
+
+Motor_LockedAntiphase::Motor_LockedAntiphase(PwmOut ma, PwmOut mb): motora(ma), motorb(mb){
+ motora.period_us(50);
+ motorb.period_us(50);
+ motora =0.5f;
+ motorb =0.5f;
+}
+
+Motor_LockedAntiphase::~Motor_LockedAntiphase(){
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/motor_lockedantiphase.h Wed Apr 23 16:32:53 2014 +0000
@@ -0,0 +1,60 @@
+/*
+ * motor_lockedantiphase.h
+ *
+ * Created on: 2014/04/23
+ * Author: spiralray
+ */
+
+#ifndef MOTOR_LOCKEDANTIPHASE_H_
+#define MOTOR_LOCKEDANTIPHASE_H_
+
+#include "mbed.h"
+
+class Motor_LockedAntiphase
+{
+public:
+
+ Motor_LockedAntiphase(PwmOut ma, PwmOut mb);
+ ~Motor_LockedAntiphase();
+
+ /** Set the PWM period, specified in seconds (float), keeping the duty cycle the same.
+ *
+ * @note
+ * The resolution is currently in microseconds; periods smaller than this
+ * will be set to zero.
+ */
+ void period(float seconds) {
+ motora.period(seconds);
+ motorb.period(seconds);
+ }
+
+ /** Set the PWM period, specified in milli-seconds (int), keeping the duty cycle the same.
+ */
+ void period_ms(int ms) {
+ motora.period_ms(ms);
+ motorb.period_ms(ms);
+ }
+
+ /** Set the PWM period, specified in micro-seconds (int), keeping the duty cycle the same.
+ */
+ void period_us(int us) {
+ motora.period_us(us);
+ motorb.period_us(us);
+ }
+
+#ifdef MBED_OPERATORS
+ /** A operator shorthand for write()
+ */
+ Motor_LockedAntiphase& operator= (float value) {
+ motora.write(0.5f+value/2);
+ motorb.write(0.5f-value/2);
+ return *this;
+ }
+#endif
+
+private:
+ PwmOut motora,motorb;
+
+};
+
+#endif /* MOTOR_LOCKEDANTIPHASE_H_ */