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.h
- Revision:
- 0:edc152f119b7
- Child:
- 1:3da7302dc9ae
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motordriver.h Sat Nov 06 13:05:17 2010 +0000 @@ -0,0 +1,77 @@ +/*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. (addition) +*/ + Motor(PinName pwm, PinName fwd, PinName rev, int brakeable); + +/** Set the speed of the motor (addition) +* +* @param speed The speed of the motor as a normalised value between -1.0 and 1.0 +*/ + void speed(float speed); + +/** Set the the motor to coast +* +* @param void motor coasts until another instruction is recived +*/ + + void coast(void); + +/** Set the motor to dynamicaly brake (addition) +* +* @param void motor dynamicaly brakes until another instruction is recived +*/ + + void stop(void); + + protected: + PwmOut _pwm; + DigitalOut _fwd; + DigitalOut _rev; + int Brakeable; // (addition) + +}; + +#endif