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: BD6211_motordriver.cpp
- Revision:
- 6:70f4fa29f10e
- Parent:
- 5:3110b9209d3c
diff -r 3110b9209d3c -r 70f4fa29f10e BD6211_motordriver.cpp --- /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(); +} +*/ \ No newline at end of file