Jose Eduardo Laruta Espejo / motoresDC

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Dependents:   maple_motores maple_heading_pid maple_chotobot_rf_motores motores ... more

motoresDC.cpp@0:b1e9ffb92a0a, 2015-12-22 (annotated)

Committer:
tabris2015
Date:
Tue Dec 22 20:52:05 2015 +0000
Revision:
0:b1e9ffb92a0a
Child:
2:b5d41b0442a7
Library for using dual H-bridges with pwm and direction control like l298n, l293d and others

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tabris2015 0:b1e9ffb92a0a 1 #include "motoresDC.h"
tabris2015 0:b1e9ffb92a0a 2
tabris2015 0:b1e9ffb92a0a 3 MotoresDC::MotoresDC(PinName MI_velPin,
tabris2015 0:b1e9ffb92a0a 4 PinName MI_s1Pin,
tabris2015 0:b1e9ffb92a0a 5 PinName MI_s2Pin,
tabris2015 0:b1e9ffb92a0a 6 PinName MD_velPin,
tabris2015 0:b1e9ffb92a0a 7 PinName MD_s1Pin,
tabris2015 0:b1e9ffb92a0a 8 PinName MD_s2Pin):_MI_vel(MI_velPin), _MI_s1(MI_s1Pin), _MI_s2(MI_s2Pin), _MD_vel(MD_velPin), _MD_s1(MD_s1Pin), _MD_s2(MD_s2Pin)
tabris2015 0:b1e9ffb92a0a 9 {
tabris2015 0:b1e9ffb92a0a 10 _MI_vel.period_ms(1);
tabris2015 0:b1e9ffb92a0a 11 _MI_vel.write(0);
tabris2015 0:b1e9ffb92a0a 12 _MD_vel.period_ms(1);
tabris2015 0:b1e9ffb92a0a 13 _MD_vel.write(0);
tabris2015 0:b1e9ffb92a0a 14 }
tabris2015 0:b1e9ffb92a0a 15 /* funciones base para conducir */
tabris2015 0:b1e9ffb92a0a 16 void MotoresDC::_izqAdelante(float velocidad)
tabris2015 0:b1e9ffb92a0a 17 {
tabris2015 0:b1e9ffb92a0a 18 _MI_s1 = 1;
tabris2015 0:b1e9ffb92a0a 19 _MI_s2 = 0;
tabris2015 0:b1e9ffb92a0a 20 _MI_vel = abs(velocidad);
tabris2015 0:b1e9ffb92a0a 21 }
tabris2015 0:b1e9ffb92a0a 22
tabris2015 0:b1e9ffb92a0a 23 void MotoresDC::_izqAtras(float velocidad)
tabris2015 0:b1e9ffb92a0a 24 {
tabris2015 0:b1e9ffb92a0a 25 _MI_s1 = 0;
tabris2015 0:b1e9ffb92a0a 26 _MI_s2 = 1;
tabris2015 0:b1e9ffb92a0a 27 _MI_vel = abs(velocidad);
tabris2015 0:b1e9ffb92a0a 28 }
tabris2015 0:b1e9ffb92a0a 29
tabris2015 0:b1e9ffb92a0a 30 void MotoresDC::_derAdelante(float velocidad)
tabris2015 0:b1e9ffb92a0a 31 {
tabris2015 0:b1e9ffb92a0a 32 _MD_s1 = 1;
tabris2015 0:b1e9ffb92a0a 33 _MD_s2 = 0;
tabris2015 0:b1e9ffb92a0a 34 _MD_vel = abs(velocidad);
tabris2015 0:b1e9ffb92a0a 35 }
tabris2015 0:b1e9ffb92a0a 36
tabris2015 0:b1e9ffb92a0a 37 void MotoresDC::_derAtras(float velocidad)
tabris2015 0:b1e9ffb92a0a 38 {
tabris2015 0:b1e9ffb92a0a 39 _MD_s1 = 0;
tabris2015 0:b1e9ffb92a0a 40 _MD_s2 = 1;
tabris2015 0:b1e9ffb92a0a 41 _MD_vel = abs(velocidad);
tabris2015 0:b1e9ffb92a0a 42 }
tabris2015 0:b1e9ffb92a0a 43
tabris2015 0:b1e9ffb92a0a 44 /* funciones compuestas */
tabris2015 0:b1e9ffb92a0a 45 /* funciones para detener los motores */
tabris2015 0:b1e9ffb92a0a 46 void MotoresDC::detenerIzq(void)
tabris2015 0:b1e9ffb92a0a 47 {
tabris2015 0:b1e9ffb92a0a 48 _MI_s1 = 0;
tabris2015 0:b1e9ffb92a0a 49 _MI_s2 = 0;
tabris2015 0:b1e9ffb92a0a 50 _MI_vel = 0;
tabris2015 0:b1e9ffb92a0a 51 }
tabris2015 0:b1e9ffb92a0a 52
tabris2015 0:b1e9ffb92a0a 53 void MotoresDC::detenerDer(void)
tabris2015 0:b1e9ffb92a0a 54 {
tabris2015 0:b1e9ffb92a0a 55 _MD_s1 = 0;
tabris2015 0:b1e9ffb92a0a 56 _MD_s2 = 0;
tabris2015 0:b1e9ffb92a0a 57 _MD_vel = 0;
tabris2015 0:b1e9ffb92a0a 58 }
tabris2015 0:b1e9ffb92a0a 59 void MotoresDC::frenarIzq(void)
tabris2015 0:b1e9ffb92a0a 60 {
tabris2015 0:b1e9ffb92a0a 61 _MI_s1 = 1;
tabris2015 0:b1e9ffb92a0a 62 _MI_s2 = 1;
tabris2015 0:b1e9ffb92a0a 63 _MI_vel = 0;
tabris2015 0:b1e9ffb92a0a 64 }
tabris2015 0:b1e9ffb92a0a 65 void MotoresDC::frenarDer(void)
tabris2015 0:b1e9ffb92a0a 66 {
tabris2015 0:b1e9ffb92a0a 67 _MD_s1 = 1;
tabris2015 0:b1e9ffb92a0a 68 _MD_s2 = 1;
tabris2015 0:b1e9ffb92a0a 69 _MD_vel = 0;
tabris2015 0:b1e9ffb92a0a 70 }
tabris2015 0:b1e9ffb92a0a 71 void MotoresDC::detener(void)
tabris2015 0:b1e9ffb92a0a 72 {
tabris2015 0:b1e9ffb92a0a 73 detenerIzq();
tabris2015 0:b1e9ffb92a0a 74 detenerDer();
tabris2015 0:b1e9ffb92a0a 75 }
tabris2015 0:b1e9ffb92a0a 76 void MotoresDC::frenar(void)
tabris2015 0:b1e9ffb92a0a 77 {
tabris2015 0:b1e9ffb92a0a 78 frenarIzq();
tabris2015 0:b1e9ffb92a0a 79 frenarDer();
tabris2015 0:b1e9ffb92a0a 80 }
tabris2015 0:b1e9ffb92a0a 81
tabris2015 0:b1e9ffb92a0a 82 /* --------------- */
tabris2015 0:b1e9ffb92a0a 83
tabris2015 0:b1e9ffb92a0a 84 /* funcion para conducir ambos motores en la misma direccion */
tabris2015 0:b1e9ffb92a0a 85 void MotoresDC::conducir(float velocidad)
tabris2015 0:b1e9ffb92a0a 86 {
tabris2015 0:b1e9ffb92a0a 87 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 88 {
tabris2015 0:b1e9ffb92a0a 89 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 90 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 91 }
tabris2015 0:b1e9ffb92a0a 92 else
tabris2015 0:b1e9ffb92a0a 93 {
tabris2015 0:b1e9ffb92a0a 94 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 95 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 96 }
tabris2015 0:b1e9ffb92a0a 97 }
tabris2015 0:b1e9ffb92a0a 98 void MotoresDC::conducir(float velocidad, int duracion)
tabris2015 0:b1e9ffb92a0a 99 {
tabris2015 0:b1e9ffb92a0a 100 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 101 {
tabris2015 0:b1e9ffb92a0a 102 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 103 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 104 }
tabris2015 0:b1e9ffb92a0a 105 else
tabris2015 0:b1e9ffb92a0a 106 {
tabris2015 0:b1e9ffb92a0a 107 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 108 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 109 }
tabris2015 0:b1e9ffb92a0a 110 wait_ms(duracion);
tabris2015 0:b1e9ffb92a0a 111 detenerIzq();
tabris2015 0:b1e9ffb92a0a 112 detenerDer();
tabris2015 0:b1e9ffb92a0a 113 }
tabris2015 0:b1e9ffb92a0a 114 /* funcion para conducir motores en sentido contrario */
tabris2015 0:b1e9ffb92a0a 115 void MotoresDC::pivotar(float velocidad)
tabris2015 0:b1e9ffb92a0a 116 {
tabris2015 0:b1e9ffb92a0a 117 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 118 {
tabris2015 0:b1e9ffb92a0a 119 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 120 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 121 }
tabris2015 0:b1e9ffb92a0a 122 else
tabris2015 0:b1e9ffb92a0a 123 {
tabris2015 0:b1e9ffb92a0a 124 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 125 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 126 }
tabris2015 0:b1e9ffb92a0a 127 }
tabris2015 0:b1e9ffb92a0a 128 void MotoresDC::pivotar(float velocidad, int duracion)
tabris2015 0:b1e9ffb92a0a 129 {
tabris2015 0:b1e9ffb92a0a 130 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 131 {
tabris2015 0:b1e9ffb92a0a 132 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 133 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 134 }
tabris2015 0:b1e9ffb92a0a 135 else
tabris2015 0:b1e9ffb92a0a 136 {
tabris2015 0:b1e9ffb92a0a 137 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 138 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 139 }
tabris2015 0:b1e9ffb92a0a 140 wait_ms(duracion);
tabris2015 0:b1e9ffb92a0a 141 detenerIzq();
tabris2015 0:b1e9ffb92a0a 142 detenerDer();
tabris2015 0:b1e9ffb92a0a 143 }
tabris2015 0:b1e9ffb92a0a 144
tabris2015 0:b1e9ffb92a0a 145 /* funciones para conducir motores independientemente */
tabris2015 0:b1e9ffb92a0a 146 void MotoresDC::motorIzq(float velocidad)
tabris2015 0:b1e9ffb92a0a 147 {
tabris2015 0:b1e9ffb92a0a 148 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 149 {
tabris2015 0:b1e9ffb92a0a 150 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 151 }
tabris2015 0:b1e9ffb92a0a 152 else
tabris2015 0:b1e9ffb92a0a 153 {
tabris2015 0:b1e9ffb92a0a 154 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 155 }
tabris2015 0:b1e9ffb92a0a 156 }
tabris2015 0:b1e9ffb92a0a 157
tabris2015 0:b1e9ffb92a0a 158 void MotoresDC::motorDer(float velocidad)
tabris2015 0:b1e9ffb92a0a 159 {
tabris2015 0:b1e9ffb92a0a 160 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 161 {
tabris2015 0:b1e9ffb92a0a 162 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 163 }
tabris2015 0:b1e9ffb92a0a 164 else
tabris2015 0:b1e9ffb92a0a 165 {
tabris2015 0:b1e9ffb92a0a 166 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 167 }
tabris2015 0:b1e9ffb92a0a 168 }
tabris2015 0:b1e9ffb92a0a 169 /* funciones para conducir motores independientemente con duracion */
tabris2015 0:b1e9ffb92a0a 170 void MotoresDC::motorIzq(float velocidad, int duracion)
tabris2015 0:b1e9ffb92a0a 171 {
tabris2015 0:b1e9ffb92a0a 172 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 173 {
tabris2015 0:b1e9ffb92a0a 174 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 175 }
tabris2015 0:b1e9ffb92a0a 176 else
tabris2015 0:b1e9ffb92a0a 177 {
tabris2015 0:b1e9ffb92a0a 178 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 179 }
tabris2015 0:b1e9ffb92a0a 180 wait_ms(duracion);
tabris2015 0:b1e9ffb92a0a 181 detenerIzq();
tabris2015 0:b1e9ffb92a0a 182 }
tabris2015 0:b1e9ffb92a0a 183 void MotoresDC::motorDer(float velocidad, int duracion)
tabris2015 0:b1e9ffb92a0a 184 {
tabris2015 0:b1e9ffb92a0a 185 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 186 {
tabris2015 0:b1e9ffb92a0a 187 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 188 }
tabris2015 0:b1e9ffb92a0a 189 else
tabris2015 0:b1e9ffb92a0a 190 {
tabris2015 0:b1e9ffb92a0a 191 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 192 }
tabris2015 0:b1e9ffb92a0a 193 wait_ms(duracion);
tabris2015 0:b1e9ffb92a0a 194 detenerDer();
tabris2015 0:b1e9ffb92a0a 195 }
tabris2015 0:b1e9ffb92a0a 196
tabris2015 0:b1e9ffb92a0a 197
tabris2015 0:b1e9ffb92a0a 198
tabris2015 0:b1e9ffb92a0a 199