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
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Diff: motordriver.cpp
- Revision:
- 0:edc152f119b7
- Child:
- 1:3da7302dc9ae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motordriver.cpp Sat Nov 06 13:05:17 2010 +0000 @@ -0,0 +1,87 @@ + /*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 "motordriver.h" + +#include "mbed.h" + +Motor::Motor(PinName pwm, PinName fwd, PinName rev, int brakeable): + _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; + + //set if the motor dirver is capable of braking. (addition) + Brakeable= brakeable; +} + +void Motor::speed(float speed) { + _fwd = (speed > 0.0); + _rev = (speed < 0.0); + _pwm = abs(speed); +} +// (additions) +void Motor::coast(void) { + _fwd = 0; + _rev = 0; + _pwm = 0; +} + +void Motor::stop(void) { + if (Brakeable == 1) { + _fwd = 1; + _rev = 1; + _pwm = 0.5; + } + else + return; +} + +/* + 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(); +} +*/ \ No newline at end of file