このライブラリは模型用のDCモータをmbedで直接制御します。 モータは正転、反転動作が可能です。 モータの回転速度は可変できます。 This library is directly controlled by a DC motor for model mbed. Motor forward rotation, inversion operation is possible. The motor speed is adjustable.
Dependents: adxl335_motor_direction
DcMotorDirectDrive.h@0:ade473623320, 2011-12-05 (annotated)
- Committer:
- suupen
- Date:
- Mon Dec 05 12:09:54 2011 +0000
- Revision:
- 0:ade473623320
V1.0 2011/12/06
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
suupen | 0:ade473623320 | 1 | /* mbed Dc motor direct drive Library |
suupen | 0:ade473623320 | 2 | * Copyright (c) 2011 suupen |
suupen | 0:ade473623320 | 3 | * |
suupen | 0:ade473623320 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
suupen | 0:ade473623320 | 5 | * of this software and associated documentation files (the "Software"), to deal |
suupen | 0:ade473623320 | 6 | * in the Software without restriction, including without limitation the rights |
suupen | 0:ade473623320 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
suupen | 0:ade473623320 | 8 | * copies of the Software, and to permit persons to whom the Software is |
suupen | 0:ade473623320 | 9 | * furnished to do so, subject to the following conditions: |
suupen | 0:ade473623320 | 10 | * |
suupen | 0:ade473623320 | 11 | * The above copyright notice and this permission notice shall be included in |
suupen | 0:ade473623320 | 12 | * all copies or substantial portions of the Software. |
suupen | 0:ade473623320 | 13 | * |
suupen | 0:ade473623320 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
suupen | 0:ade473623320 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
suupen | 0:ade473623320 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
suupen | 0:ade473623320 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
suupen | 0:ade473623320 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
suupen | 0:ade473623320 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
suupen | 0:ade473623320 | 20 | * THE SOFTWARE. |
suupen | 0:ade473623320 | 21 | */ |
suupen | 0:ade473623320 | 22 | |
suupen | 0:ade473623320 | 23 | |
suupen | 0:ade473623320 | 24 | //================================ |
suupen | 0:ade473623320 | 25 | // DcMotorDirectDrive.h |
suupen | 0:ade473623320 | 26 | // V1.0 : 2011/12/05 |
suupen | 0:ade473623320 | 27 | // |
suupen | 0:ade473623320 | 28 | //================================ |
suupen | 0:ade473623320 | 29 | #ifndef _DCMOTORDIRECTDRIVE_H |
suupen | 0:ade473623320 | 30 | #define _DCMOTORDIRECTDRIVE_H |
suupen | 0:ade473623320 | 31 | |
suupen | 0:ade473623320 | 32 | /** Dc motor direct drive class |
suupen | 0:ade473623320 | 33 | * |
suupen | 0:ade473623320 | 34 | * Example: |
suupen | 0:ade473623320 | 35 | * @code |
suupen | 0:ade473623320 | 36 | * //============================================ |
suupen | 0:ade473623320 | 37 | * // DcMotorDirectDrive Library Example |
suupen | 0:ade473623320 | 38 | * // |
suupen | 0:ade473623320 | 39 | * // This program controls the motor 3. |
suupen | 0:ade473623320 | 40 | * // Repeat the forward and reverse motor. |
suupen | 0:ade473623320 | 41 | * // Continuously varies the rotational speed of the motor. |
suupen | 0:ade473623320 | 42 | * // |
suupen | 0:ade473623320 | 43 | * // <schematic> |
suupen | 0:ade473623320 | 44 | * // |
suupen | 0:ade473623320 | 45 | * // motor1,2,3 : mabuchi motor RF-300C-11440 DC3V 18mA 2200rpm) |
suupen | 0:ade473623320 | 46 | * // __ |
suupen | 0:ade473623320 | 47 | * // p21(pwmOut) ---------| | motor1 |
suupen | 0:ade473623320 | 48 | * // | |-- |
suupen | 0:ade473623320 | 49 | * // p22(digitalOut) ---------|__| |
suupen | 0:ade473623320 | 50 | * // |
suupen | 0:ade473623320 | 51 | * // __ |
suupen | 0:ade473623320 | 52 | * // p23(pwmOut) ---------| | motor2 |
suupen | 0:ade473623320 | 53 | * // | |-- |
suupen | 0:ade473623320 | 54 | * // p24(digitalOut) ---------|__| |
suupen | 0:ade473623320 | 55 | * // |
suupen | 0:ade473623320 | 56 | * // __ |
suupen | 0:ade473623320 | 57 | * // p25(pwmOut) ---------| | motor3 |
suupen | 0:ade473623320 | 58 | * // | |-- |
suupen | 0:ade473623320 | 59 | * // p26(digitalOut) ---------|__| |
suupen | 0:ade473623320 | 60 | * // |
suupen | 0:ade473623320 | 61 | * //============================================= |
suupen | 0:ade473623320 | 62 | * |
suupen | 0:ade473623320 | 63 | * #include "mbed.h" |
suupen | 0:ade473623320 | 64 | * |
suupen | 0:ade473623320 | 65 | * #include "DcMotorDirectDrive.h" |
suupen | 0:ade473623320 | 66 | * |
suupen | 0:ade473623320 | 67 | * // pwm pin |
suupen | 0:ade473623320 | 68 | * // | |
suupen | 0:ade473623320 | 69 | * // | reference pin |
suupen | 0:ade473623320 | 70 | * // | | |
suupen | 0:ade473623320 | 71 | * DcMotorDirectDrive motor1(p21, p22); |
suupen | 0:ade473623320 | 72 | * DcMotorDirectDrive motor2(p23, p24); |
suupen | 0:ade473623320 | 73 | * DcMotorDirectDrive motor3(p25, p26); |
suupen | 0:ade473623320 | 74 | * |
suupen | 0:ade473623320 | 75 | * |
suupen | 0:ade473623320 | 76 | * DigitalOut led1(LED1); |
suupen | 0:ade473623320 | 77 | * DigitalOut led4(LED4); |
suupen | 0:ade473623320 | 78 | * |
suupen | 0:ade473623320 | 79 | * Timer timer; // data change timer |
suupen | 0:ade473623320 | 80 | * |
suupen | 0:ade473623320 | 81 | * int main() { |
suupen | 0:ade473623320 | 82 | * float siji = 1.0f; // motor output (+1.0 -> ... -> +0.5 -> -1.0 -> ... -> -0.5 -> +1.0) |
suupen | 0:ade473623320 | 83 | * uint8_t fugo = 0; // 0 : normal rotation, 1 : reverse rotation |
suupen | 0:ade473623320 | 84 | * |
suupen | 0:ade473623320 | 85 | * |
suupen | 0:ade473623320 | 86 | * timer.start(); |
suupen | 0:ade473623320 | 87 | * |
suupen | 0:ade473623320 | 88 | * while(1) { |
suupen | 0:ade473623320 | 89 | * // After 100[ms] to start the process |
suupen | 0:ade473623320 | 90 | * if(timer.read_ms() >= 100){ |
suupen | 0:ade473623320 | 91 | * timer.reset(); |
suupen | 0:ade473623320 | 92 | * |
suupen | 0:ade473623320 | 93 | * if(fugo == 0){ |
suupen | 0:ade473623320 | 94 | * // Normal rotation |
suupen | 0:ade473623320 | 95 | * // siji = +1.0 -> +0.5 |
suupen | 0:ade473623320 | 96 | * siji -= 0.005; |
suupen | 0:ade473623320 | 97 | * if(siji < 0.5f){ |
suupen | 0:ade473623320 | 98 | * fugo = 1; |
suupen | 0:ade473623320 | 99 | * siji = -1.0f; |
suupen | 0:ade473623320 | 100 | * } |
suupen | 0:ade473623320 | 101 | * } |
suupen | 0:ade473623320 | 102 | * else{ |
suupen | 0:ade473623320 | 103 | * // Reverse rotation |
suupen | 0:ade473623320 | 104 | * siji += 0.005; |
suupen | 0:ade473623320 | 105 | * if(siji > -0.5f){ |
suupen | 0:ade473623320 | 106 | * fugo = 0; |
suupen | 0:ade473623320 | 107 | * siji = +1.0f; |
suupen | 0:ade473623320 | 108 | * } |
suupen | 0:ade473623320 | 109 | * } |
suupen | 0:ade473623320 | 110 | * // Outputs a control instruction to the motor |
suupen | 0:ade473623320 | 111 | * motor1.DcMotorDirectDrive_main(siji); |
suupen | 0:ade473623320 | 112 | * motor2.DcMotorDirectDrive_main(siji); |
suupen | 0:ade473623320 | 113 | * motor3.DcMotorDirectDrive_main(siji); |
suupen | 0:ade473623320 | 114 | * |
suupen | 0:ade473623320 | 115 | * // rotation display |
suupen | 0:ade473623320 | 116 | * if(siji > 0.5){ |
suupen | 0:ade473623320 | 117 | * // normal rotation |
suupen | 0:ade473623320 | 118 | * led1 = 1; |
suupen | 0:ade473623320 | 119 | * led4 = 0; |
suupen | 0:ade473623320 | 120 | * } |
suupen | 0:ade473623320 | 121 | * else{ |
suupen | 0:ade473623320 | 122 | * // reverse rotation |
suupen | 0:ade473623320 | 123 | * led1 = 0; |
suupen | 0:ade473623320 | 124 | * led4 = 1; |
suupen | 0:ade473623320 | 125 | * } |
suupen | 0:ade473623320 | 126 | * } |
suupen | 0:ade473623320 | 127 | * } |
suupen | 0:ade473623320 | 128 | * } |
suupen | 0:ade473623320 | 129 | * @endcode |
suupen | 0:ade473623320 | 130 | */ |
suupen | 0:ade473623320 | 131 | |
suupen | 0:ade473623320 | 132 | |
suupen | 0:ade473623320 | 133 | |
suupen | 0:ade473623320 | 134 | #include "types.h" |
suupen | 0:ade473623320 | 135 | |
suupen | 0:ade473623320 | 136 | class DcMotorDirectDrive { |
suupen | 0:ade473623320 | 137 | public: |
suupen | 0:ade473623320 | 138 | |
suupen | 0:ade473623320 | 139 | /** Create a eight dot matrix led array object connected to the specified DigitalOut pin |
suupen | 0:ade473623320 | 140 | * @param pwmPin PwmOut pin to connect to. pwm pin (p21 - p26) |
suupen | 0:ade473623320 | 141 | * @param referencePin DigitalOut pin to connect to. Reference power supply pin (p5 - p30) |
suupen | 0:ade473623320 | 142 | */ |
suupen | 0:ade473623320 | 143 | |
suupen | 0:ade473623320 | 144 | DcMotorDirectDrive(PinName pwmPin, PinName referencePin); |
suupen | 0:ade473623320 | 145 | |
suupen | 0:ade473623320 | 146 | |
suupen | 0:ade473623320 | 147 | /** Data set to the seven segment LED display |
suupen | 0:ade473623320 | 148 | * @param float request motor output request (-1.0 - 0.0 - 1.0) -1.0 to 0.0 : Reverse rotation, 0.0 : stop, 0.0 to +1.0 : normal rotation |
suupen | 0:ade473623320 | 149 | */ |
suupen | 0:ade473623320 | 150 | void DcMotorDirectDrive_main(float request); |
suupen | 0:ade473623320 | 151 | |
suupen | 0:ade473623320 | 152 | private: |
suupen | 0:ade473623320 | 153 | PwmOut _pwmPin; |
suupen | 0:ade473623320 | 154 | DigitalOut _referencePin; |
suupen | 0:ade473623320 | 155 | |
suupen | 0:ade473623320 | 156 | #define Z_pwmPeriod (10000) // pwm period (1/1 [us]/count) 10[ms](0.1[kHz]) |
suupen | 0:ade473623320 | 157 | #define Z_stopRange (0.0) // pwm request stop range (-0.0 - +0.0) |
suupen | 0:ade473623320 | 158 | |
suupen | 0:ade473623320 | 159 | |
suupen | 0:ade473623320 | 160 | }; |
suupen | 0:ade473623320 | 161 | |
suupen | 0:ade473623320 | 162 | #endif // _DCMOTORDIRECTDRIVE_H |