suu pen
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
Revision 0:ade473623320, committed 2011-12-05
- Comitter:
- suupen
- Date:
- Mon Dec 05 12:09:54 2011 +0000
- Commit message:
- V1.0 2011/12/06
Changed in this revision
diff -r 000000000000 -r ade473623320 DcMotorDirectDrive.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DcMotorDirectDrive.cpp Mon Dec 05 12:09:54 2011 +0000
@@ -0,0 +1,54 @@
+/**********************************************************
+
+* DcMotorDirectDrive.cpp
+* Dc motor direct drive library
+*
+**********************************************************/
+#define _DCMOTORDIRECTDRIVE_C
+
+#include "types.h"
+#include "mbed.h"
+#include "DcMotorDirectDrive.h"
+
+
+
+
+/** DC motor direct drive object connected to the specified DigtalOutput pin
+ */
+DcMotorDirectDrive::DcMotorDirectDrive(PinName pwmPin, PinName referencePin) :
+ _pwmPin(pwmPin), _referencePin(referencePin){
+
+ // pwm setting
+ _referencePin = 0;
+ _pwmPin.period_us(Z_pwmPeriod); // pwm period 0.1[ms](10[kHz])
+ _pwmPin.write(0.0);
+
+}
+
+
+
+
+/**************************************
+* main
+**************************************/
+void DcMotorDirectDrive::DcMotorDirectDrive_main(float request) {
+ if(request > Z_stopRange){
+ // normal rotation
+ _referencePin = 0;
+ _pwmPin.write(request);
+ }
+ else if(request < -Z_stopRange){
+ // reversal rotation
+ _referencePin = 1;
+ _pwmPin.write(1.0f + request);
+
+ }
+ else{
+ // stop
+ _referencePin = 0;
+ _pwmPin.write(0.0);
+ }
+
+}
+
+
diff -r 000000000000 -r ade473623320 DcMotorDirectDrive.h
--- /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
diff -r 000000000000 -r ade473623320 types.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/types.h Mon Dec 05 12:09:54 2011 +0000
@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* File Information */
+/*----------------------------------------------------------------------------*/
+/* Name : types.h */
+/* Type : C Programming Language Header */
+/*----------------------------------------------------------------------------*/
+/*----------------------------------------------------------------------------*/
+
+#ifndef __TYPES_H__
+#define __TYPES_H__
+
+#include "stdint.h"
+/*
+typedef char int8_t;
+typedef unsigned char uint8_t;
+typedef signed short int16_t;
+typedef unsigned short uint16_t;
+typedef signed int int32_t;
+typedef unsigned int uint32_t;
+typedef signed long long int64_t;
+typedef unsigned long long uint64_t;
+*/
+//typedef bool bool_t;
+typedef enum{TRUE, FALSE} bool_t;
+
+//=========================================================================
+// byte bit access
+//=========================================================================
+typedef union{ // BYTE/NIBBLE/BIT access
+ uint8_t byte; // Byte access
+ struct{ // Nibble access
+ uint8_t lo : 4; // lower(Bit0 - 3)
+ uint8_t hi : 4; // upper(Bit4 - 7)
+ }nibble;
+ struct{ // Bit access
+ uint8_t b0 : 1; // Bit0
+ uint8_t b1 : 1; // Bit1
+ uint8_t b2 : 1; // Bit2
+ uint8_t b3 : 1; // Bit3
+ uint8_t b4 : 1; // Bit4
+ uint8_t b5 : 1; // Bit5
+ uint8_t b6 : 1; // Bit6
+ uint8_t b7 : 1; // Bit7
+ }bits;
+}byte_t;
+
+//=========================================================================
+// word bit access
+//=========================================================================
+typedef union{ // WORD/BYTE/NIBBLE/BIT access
+ uint16_t word; // Word access
+ struct{ // Byte access
+ uint8_t b0; // upper byte
+ uint8_t b1; // lower byte
+ }byte;
+ struct { // Nibble access
+ uint8_t n0 : 4; // lower byte low(Bit 0 - 3)
+ uint8_t n1 : 4; // lower byte up (Bit 4 - 7)
+ uint8_t n2 : 4; // upper byte low(Bit 8 - 11)
+ uint8_t n3 : 4; // upper byte up (Bit12 - 15)
+ }nibble;
+ struct{ // Bit acces
+ uint8_t b0 : 1; // Bit0
+ uint8_t b1 : 1; // Bit1
+ uint8_t b2 : 1; // Bit2
+ uint8_t b3 : 1; // Bit3
+ uint8_t b4 : 1; // Bit4
+ uint8_t b5 : 1; // Bit5
+ uint8_t b6 : 1; // Bit6
+ uint8_t b7 : 1; // Bit7
+ uint8_t b8 : 1; // Bit8
+ uint8_t b9 : 1; // Bit9
+ uint8_t b10: 1; // Bit10
+ uint8_t b11: 1; // Bit11
+ uint8_t b12: 1; // Bit12
+ uint8_t b13: 1; // Bit13
+ uint8_t b14: 1; // Bit14
+ uint8_t b15: 1; // Bit15
+ }bits;
+}word_t;
+
+
+//=========================================================================
+// ascii code
+//=========================================================================
+#define Z_NUL (0x00)
+#define Z_SOH (0x01)
+#define Z_STX (0x02)
+#define Z_ETX (0x03)
+#define Z_EOT (0x04)
+#define Z_ENQ (0x05)
+#define Z_ACK (0x06)
+#define Z_BEL (0x07)
+
+#define Z_BS (0x08)
+#define Z_HT (0x09)
+#define Z_LF (0x0A)
+#define Z_HM (0x0B)
+#define Z_FF (0x0C)
+#define Z_CR (0x0D)
+#define Z_SO (0x0E)
+#define Z_SI (0x0F)
+
+#define Z_DLE (0x10)
+#define Z_DC1 (0x11)
+#define Z_DC2 (0x12)
+#define Z_DC3 (0x13)
+#define Z_DC4 (0x14)
+#define Z_NAK (0x15)
+#define Z_SYN (0x16)
+#define Z_ETB (0x17)
+
+
+#endif /* __TYPES_H__*/
\ No newline at end of file