suu pen / BD6211_Motordriver

130901現在開発中 BD6211 motor driver Library FIN,RIN にPWM信号を入れて速度制御する

Fork of Motordriver by Christopher Hasler

motordriver.cpp@0:edc152f119b7, 2010-11-06 (annotated)

Committer:
littlexc
Date:
Sat Nov 06 13:05:17 2010 +0000
Revision:
0:edc152f119b7
Child:
1:3da7302dc9ae
V1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
littlexc 0:edc152f119b7 1 /*motor driver libary modified from the following libary,
littlexc 0:edc152f119b7 2 *
littlexc 0:edc152f119b7 3 * mbed simple H-bridge motor controller
littlexc 0:edc152f119b7 4 * Copyright (c) 2007-2010, sford
littlexc 0:edc152f119b7 5 *
littlexc 0:edc152f119b7 6 * by Christopher Hasler.
littlexc 0:edc152f119b7 7 *
littlexc 0:edc152f119b7 8 * from sford's libary,
littlexc 0:edc152f119b7 9 *
littlexc 0:edc152f119b7 10 * Permission is hereby granted, free of charge, to any person obtaining a copy
littlexc 0:edc152f119b7 11 * of this software and associated documentation files (the "Software"), to deal
littlexc 0:edc152f119b7 12 * in the Software without restriction, including without limitation the rights
littlexc 0:edc152f119b7 13 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
littlexc 0:edc152f119b7 14 * copies of the Software, and to permit persons to whom the Software is
littlexc 0:edc152f119b7 15 * furnished to do so, subject to the following conditions:
littlexc 0:edc152f119b7 16 *
littlexc 0:edc152f119b7 17 * The above copyright notice and this permission notice shall be included in
littlexc 0:edc152f119b7 18 * all copies or substantial portions of the Software.
littlexc 0:edc152f119b7 19 *
littlexc 0:edc152f119b7 20 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
littlexc 0:edc152f119b7 21 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
littlexc 0:edc152f119b7 22 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
littlexc 0:edc152f119b7 23 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
littlexc 0:edc152f119b7 24 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
littlexc 0:edc152f119b7 25 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
littlexc 0:edc152f119b7 26 * THE SOFTWARE.
littlexc 0:edc152f119b7 27 */
littlexc 0:edc152f119b7 28
littlexc 0:edc152f119b7 29 #include "motordriver.h"
littlexc 0:edc152f119b7 30
littlexc 0:edc152f119b7 31 #include "mbed.h"
littlexc 0:edc152f119b7 32
littlexc 0:edc152f119b7 33 Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable):
littlexc 0:edc152f119b7 34 _pwm(pwm), _fwd(fwd), _rev(rev) {
littlexc 0:edc152f119b7 35
littlexc 0:edc152f119b7 36 // Set initial condition of PWM
littlexc 0:edc152f119b7 37 _pwm.period(0.001);
littlexc 0:edc152f119b7 38 _pwm = 0;
littlexc 0:edc152f119b7 39
littlexc 0:edc152f119b7 40 // Initial condition of output enables
littlexc 0:edc152f119b7 41 _fwd = 0;
littlexc 0:edc152f119b7 42 _rev = 0;
littlexc 0:edc152f119b7 43
littlexc 0:edc152f119b7 44 //set if the motor dirver is capable of braking. (addition)
littlexc 0:edc152f119b7 45 Brakeable= brakeable;
littlexc 0:edc152f119b7 46 }
littlexc 0:edc152f119b7 47
littlexc 0:edc152f119b7 48 void Motor::speed(float speed) {
littlexc 0:edc152f119b7 49 _fwd = (speed > 0.0);
littlexc 0:edc152f119b7 50 _rev = (speed < 0.0);
littlexc 0:edc152f119b7 51 _pwm = abs(speed);
littlexc 0:edc152f119b7 52 }
littlexc 0:edc152f119b7 53 // (additions)
littlexc 0:edc152f119b7 54 void Motor::coast(void) {
littlexc 0:edc152f119b7 55 _fwd = 0;
littlexc 0:edc152f119b7 56 _rev = 0;
littlexc 0:edc152f119b7 57 _pwm = 0;
littlexc 0:edc152f119b7 58 }
littlexc 0:edc152f119b7 59
littlexc 0:edc152f119b7 60 void Motor::stop(void) {
littlexc 0:edc152f119b7 61 if (Brakeable == 1) {
littlexc 0:edc152f119b7 62 _fwd = 1;
littlexc 0:edc152f119b7 63 _rev = 1;
littlexc 0:edc152f119b7 64 _pwm = 0.5;
littlexc 0:edc152f119b7 65 }
littlexc 0:edc152f119b7 66 else
littlexc 0:edc152f119b7 67 return;
littlexc 0:edc152f119b7 68 }
littlexc 0:edc152f119b7 69
littlexc 0:edc152f119b7 70 /*
littlexc 0:edc152f119b7 71 test code, this demonstrates working motor drivers.
littlexc 0:edc152f119b7 72
littlexc 0:edc152f119b7 73 Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break
littlexc 0:edc152f119b7 74 Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break
littlexc 0:edc152f119b7 75 int main() {
littlexc 0:edc152f119b7 76 for (float s=-1.0; s < 1.0 ; s += 0.01) {
littlexc 0:edc152f119b7 77 A.speed(s);
littlexc 0:edc152f119b7 78 B.speed(s);
littlexc 0:edc152f119b7 79 wait(0.02);
littlexc 0:edc152f119b7 80 }
littlexc 0:edc152f119b7 81 A.stop();
littlexc 0:edc152f119b7 82 B.stop();
littlexc 0:edc152f119b7 83 wait(1);
littlexc 0:edc152f119b7 84 A.coast();
littlexc 0:edc152f119b7 85 B.coast();
littlexc 0:edc152f119b7 86 }
littlexc 0:edc152f119b7 87 */