Diff: BD6211_motordriver.cpp

Revision:

6:70f4fa29f10e

Parent:

5:3110b9209d3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6211_motordriver.cpp	Sun Sep 01 10:17:10 2013 +0000
@@ -0,0 +1,207 @@
+/*motor driver libary modified from the following libary,
+*
+* mbed simple H-bridge motor controller
+* Copyright (c) 2007-2010, sford
+*
+* by Christopher Hasler.
+*
+* from sford's libary,
+*
+* 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 "BD6211_motordriver.h"
+
+#include "mbed.h"
+
+//Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable):
+//        _pwm(pwm), _fwd(fwd), _rev(rev) {
+Motor::Motor(PinName fwd, PinName rev, int brakeable):
+    _pwmfwd(fwd), _pwmrev(rev)
+{
+
+    // Set initial condition of PWM
+    //_pwm.period(0.001);
+    //_pwm = 0;
+    _pwmfwd.period(0.0001);
+    _pwmfwd = 0;
+    
+    _pwmrev.period(0.0001);
+    _pwmrev = 0;
+
+    // Initial condition of output enables
+//    _fwd = 0;
+//    _rev = 0;
+
+    //set if the motor dirver is capable of braking. (addition)
+    Brakeable= brakeable;
+    sign = 0;//i.e nothing.
+}
+
+float Motor::speed(float speed)
+{
+    float temp = 0;
+    if (sign == 0) {
+//        _fwd = (speed > 0.0);
+//        _rev = (speed < 0.0);
+//       temp = abs(speed);
+//        _pwm = temp;
+        temp = abs(speed);
+        if(speed > 0.0) {
+            _pwmfwd = temp;
+            _pwmrev = 0;
+        } else if(speed < 0.0) {
+            _pwmfwd = 0;
+            _pwmrev = temp;
+        } else {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        }
+    } else if (sign == 1) {
+//        if (speed < 0) {
+//            _fwd = (speed > 0.0);
+//            _rev = (speed < 0.0);
+//            _pwm = 0;
+//            temp = 0;
+//         } else {
+//            _fwd = (speed > 0.0);
+//            _rev = (speed < 0.0);
+//            temp = abs(speed);
+//            _pwm = temp;
+        temp = abs(speed);
+        if(speed > 0.0) {
+            _pwmfwd = temp;
+            _pwmrev = 0;
+        } else if(speed < 0.0) {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        } else {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        }
+
+    } else if (sign == -1) {
+//    if (speed > 0) {
+//        _fwd = (speed > 0.0);
+//        _rev = (speed < 0.0);
+//        _pwm = 0;
+//        temp = 0;
+//    } else {
+//        _fwd = (speed > 0.0);
+//        _rev = (speed < 0.0);
+//        temp = abs(speed);
+//        _pwm = temp;
+//    }
+        temp = abs(speed);
+        if(speed > 0.0) {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        } else if(speed < 0.0) {
+            _pwmfwd = 0;
+            _pwmrev = temp;
+        } else {
+            _pwmfwd = 0;
+            _pwmrev = 0;
+            temp = 0;
+        }
+    }
+    if (speed > 0)
+        sign = 1;
+    else if (speed < 0) {
+        sign = -1;
+    } else if (speed == 0) {
+        sign = 0;
+    }
+    return temp;
+}
+//  (additions)
+void Motor::coast(void)
+{
+//    _fwd = 0;
+//    _rev = 0;
+//    _pwm = 0;
+//    sign = 0;
+    _pwmfwd = 0;
+    _pwmrev = 0;
+    sign = 0;
+}
+
+float Motor::stop(float duty)
+{
+    if (Brakeable == 1) {
+//        _fwd = 1;
+//        _rev = 1;
+//        _pwm = duty;
+//        sign = 0;
+//        return duty;
+        _pwmfwd = 1;
+        _pwmrev = 1;
+        sign = 0;
+        return duty;
+    } else
+        Motor::coast();
+    return -1;
+}
+
+float Motor::state(void)
+{
+//    if ((_fwd == _rev) && (_pwm > 0)) {
+//        return -2;//braking
+//    } else if (_pwm == 0) {
+//        return 2;//coasting
+//    } else if ((_fwd == 0) && (_rev == 1)) {
+//        return -(_pwm);//reversing
+//    }  else if ((_fwd == 1) && (_rev == 0)) {
+//        return _pwm;//fowards
+//    } else
+//        return -3;//error
+    if ((_pwmfwd == _pwmrev) && (_pwmfwd > 0)) {
+        return -2;//braking
+    } else if ((_pwmfwd == 0) && (_pwmrev == 0)) {
+        return 2;//coasting
+    } else if ((_pwmfwd == 0) && (_pwmrev != 0)) {
+        return -(_pwmrev);//reversing
+    }  else if ((_pwmfwd != 0) && (_pwmrev == 0)) {
+        return _pwmfwd;//fowards
+    } else
+        return -3;//error
+}
+
+/*
+ test code, this demonstrates working motor drivers.
+
+Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break
+Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break
+int main() {
+    for (float s=-1.0; s < 1.0 ; s += 0.01) {
+       A.speed(s);
+       B.speed(s);
+       wait(0.02);
+    }
+    A.stop();
+    B.stop();
+    wait(1);
+    A.coast();
+    B.coast();
+}
+*/
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