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
Fork of Motordriver by
BD6211_motordriver.h
00001 /*motor driver libary modified from the following libary, 00002 * 00003 * mbed simple H-bridge motor controller 00004 * Copyright (c) 2007-2010, sford 00005 * 00006 * by Christopher Hasler. 00007 * 00008 * from sford's libary, 00009 * 00010 * Permission is hereby granted, free of charge, to any person obtaining a copy 00011 * of this software and associated documentation files (the "Software"), to deal 00012 * in the Software without restriction, including without limitation the rights 00013 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00014 * copies of the Software, and to permit persons to whom the Software is 00015 * furnished to do so, subject to the following conditions: 00016 * 00017 * The above copyright notice and this permission notice shall be included in 00018 * all copies or substantial portions of the Software. 00019 * 00020 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00021 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00022 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00023 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00024 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00025 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00026 * THE SOFTWARE. 00027 */ 00028 00029 #ifndef MBED_MOTOR_H 00030 #define MBED_MOTOR_H 00031 00032 #include "mbed.h" 00033 00034 /** Interface to control a standard DC motor 00035 * with an H-bridge using a PwmOut and 2 DigitalOuts 00036 */ 00037 class Motor { 00038 public: 00039 00040 /** Create a motor control interface 00041 * 00042 * @param pwm A PwmOut pin, driving the H-bridge enable line to control the speed 00043 * @param fwd A DigitalOut, set high when the motor should go forward 00044 * @param rev A DigitalOut, set high when the motor should go backwards 00045 * @param set if the motor driver is able to do braking 0 false 1 true. 00046 */ 00047 //Motor(PinName pwm, PinName fwd, PinName rev, int brakeable); 00048 Motor(PinName fwd, PinName rev, int breakeable); 00049 /** Set the speed of the motor 00050 * 00051 * @param speed The speed of the motor as a normalised value between -1.0 and 1.0. 00052 * @return the applied speed to the motor after checking to ensure motor doesn't switch from forward to reverse without stopping. 00053 */ 00054 float speed(float speed); 00055 00056 /** Set the the motor to coast 00057 * 00058 * @param void 00059 * @return motor coasts until another instruction is recived. 00060 */ 00061 00062 void coast(void); 00063 00064 /** Set the motor to dynamicaly brake 00065 * 00066 * @param float 0 - 1.0 provides some control over how hard the motor brakes. 00067 * @return duty applied to motor driver. -1 is error, motor driver can't brake. 00068 */ 00069 00070 float stop(float duty); 00071 /** return the current state of the motor 00072 * 00073 * @param void 00074 * @return state of motor, -1 to 1 is speed, -2 is braking, 2 is coasting. -3 is error. 00075 */ 00076 float state(void); 00077 00078 protected: 00079 //PwmOut _pwm; 00080 PwmOut _pwmfwd; //DigitalOut _fwd; 00081 PwmOut _pwmrev; //DigitalOut _rev; 00082 int Brakeable; // cna the motor driver break 00083 int sign; //prevents throwing the motor from full foward to full reverse and stuff melting. 00084 00085 }; 00086 00087 00088 00089 00090 00091 #endif
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