Diff: BD6211_motordriver.h

Revision:

6:70f4fa29f10e

Parent:

4:5fb1296c0d60

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BD6211_motordriver.h	Sun Sep 01 10:17:10 2013 +0000
@@ -0,0 +1,91 @@
+/*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.
+*/
+ 
+#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
+* @param set if the motor driver is able to do braking 0 false 1 true.
+*/
+        //Motor(PinName pwm, PinName fwd, PinName rev, int brakeable);
+        Motor(PinName fwd, PinName rev, int breakeable);
+/** Set the speed of the motor 
+* 
+* @param speed The speed of the motor as a normalised value between -1.0 and 1.0.
+* @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping.
+*/
+        float speed(float speed);
+        
+/** Set the the motor to coast
+* 
+* @param void 
+* @return motor coasts until another instruction is recived.
+*/        
+  
+        void coast(void);
+
+/** Set the motor to dynamicaly brake
+* 
+* @param float 0 - 1.0 provides some control over how hard the motor brakes. 
+* @return duty applied to motor driver. -1 is error, motor driver can't brake.
+*/
+
+        float stop(float duty);
+/** return the current state of the motor
+*
+* @param void
+* @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. 
+*/
+        float state(void);
+        
+    protected:
+        //PwmOut _pwm;
+        PwmOut _pwmfwd;    //DigitalOut _fwd;
+        PwmOut _pwmrev;    //DigitalOut _rev;
+        int Brakeable; // cna the motor driver break
+        int sign; //prevents throwing the motor from full foward to full reverse and stuff melting.
+ 
+};
+
+
+
+
+
+#endif