Diff: DcMotorDirectDrive.h

Revision:

0:ade473623320

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DcMotorDirectDrive.h	Mon Dec 05 12:09:54 2011 +0000
@@ -0,0 +1,162 @@
+/* mbed Dc motor direct drive Library
+ * Copyright (c) 2011 suupen
+ *
+ * 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.
+ */
+
+
+//================================
+//    DcMotorDirectDrive.h        
+// V1.0 : 2011/12/05                       
+//                               
+//================================
+#ifndef _DCMOTORDIRECTDRIVE_H
+#define _DCMOTORDIRECTDRIVE_H
+
+/** Dc motor direct drive class
+ *
+ * Example:
+ * @code
+ * //============================================
+ * // DcMotorDirectDrive Library Example
+ * //
+ * // This program controls the motor 3.
+ * // Repeat the forward and reverse motor.
+ * // Continuously varies the rotational speed of the motor.
+ * //
+ * // <schematic>
+ * //
+ * //                                   motor1,2,3 : mabuchi motor RF-300C-11440  DC3V 18mA 2200rpm)
+ * //                              __
+ * //    p21(pwmOut)     ---------|  |  motor1
+ * //                             |  |--
+ * //    p22(digitalOut) ---------|__|
+ * //
+ * //                              __
+ * //    p23(pwmOut)     ---------|  |  motor2
+ * //                             |  |--
+ * //    p24(digitalOut) ---------|__|
+ * //
+ * //                              __
+ * //    p25(pwmOut)     ---------|  |  motor3
+ * //                             |  |--
+ * //    p26(digitalOut) ---------|__|
+ * //
+ * //=============================================
+ *
+ * #include "mbed.h"
+ *
+ * #include "DcMotorDirectDrive.h"
+ *
+ * //                          pwm pin
+ * //                          |  
+ * //                          |    reference pin                          
+ * //                          |    |
+ * DcMotorDirectDrive motor1(p21, p22);
+ * DcMotorDirectDrive motor2(p23, p24);
+ * DcMotorDirectDrive motor3(p25, p26);
+ *
+ *
+ * DigitalOut led1(LED1);
+ * DigitalOut led4(LED4);
+ *
+ * Timer timer;    // data change timer
+ *    
+ * int main() {
+ *    float siji = 1.0f;  // motor output (+1.0 -> ... -> +0.5 -> -1.0 -> ... -> -0.5 -> +1.0)
+ *    uint8_t fugo = 0;   // 0 : normal rotation,  1 : reverse rotation
+ *    
+ *    
+ *    timer.start();
+ *
+ *    while(1) {
+ *        // After 100[ms] to start the process
+ *        if(timer.read_ms() >= 100){
+ *            timer.reset();
+ *            
+ *            if(fugo == 0){
+ *                // Normal rotation
+ *                // siji = +1.0 -> +0.5 
+ *                 siji -= 0.005;
+ *                if(siji < 0.5f){
+ *                    fugo = 1;
+ *                    siji = -1.0f;
+ *                }
+ *            }
+ *            else{
+ *                // Reverse rotation
+ *                siji += 0.005;
+ *                if(siji > -0.5f){
+ *                    fugo = 0;
+ *                    siji = +1.0f;
+ *                }
+ *           }
+ *            // Outputs a control instruction to the motor
+ *            motor1.DcMotorDirectDrive_main(siji);           
+ *            motor2.DcMotorDirectDrive_main(siji);
+ *            motor3.DcMotorDirectDrive_main(siji);
+ *        
+ *            // rotation display
+ *            if(siji > 0.5){
+ *                // normal rotation
+ *                led1 = 1;
+ *                led4 = 0;
+ *            }
+ *            else{
+ *                // reverse rotation
+ *                led1 = 0;
+ *             led4 = 1;        
+ *            }
+ *        }
+ *    }
+ * }
+ * @endcode
+ */
+
+
+
+#include "types.h"
+
+class DcMotorDirectDrive {
+public:
+    
+    /** Create a eight dot matrix led array object connected to the specified DigitalOut pin
+    * @param pwmPin PwmOut pin to connect to.           pwm pin (p21 - p26) 
+    * @param referencePin DigitalOut pin to connect to.    Reference power supply pin (p5 - p30)   
+    */
+
+    DcMotorDirectDrive(PinName pwmPin, PinName referencePin);
+    
+    
+    /** Data set to the seven segment LED display
+    * @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
+    */
+    void DcMotorDirectDrive_main(float request);
+
+private:
+    PwmOut _pwmPin;
+    DigitalOut _referencePin;
+    
+    #define Z_pwmPeriod (10000) // pwm period (1/1 [us]/count) 10[ms](0.1[kHz])
+    #define Z_stopRange (0.0) // pwm request stop range (-0.0 - +0.0)
+
+
+};
+
+#endif    // _DCMOTORDIRECTDRIVE_H