test
Fork of MotorDriver by
MotorDriver.h@1:19476b49822b, 2017-11-25 (annotated)
- Committer:
- tgw
- Date:
- Sat Nov 25 02:02:40 2017 +0000
- Revision:
- 1:19476b49822b
- Parent:
- 0:871adb9cf798
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
electromotivated | 0:871adb9cf798 | 1 | /* |
electromotivated | 0:871adb9cf798 | 2 | Bryce Williams |
electromotivated | 0:871adb9cf798 | 3 | 09/14/2014 |
electromotivated | 0:871adb9cf798 | 4 | |
electromotivated | 0:871adb9cf798 | 5 | General/Basic Motor Driver Class providing Motor Control using a COTS Motor Driver |
electromotivated | 0:871adb9cf798 | 6 | |
electromotivated | 0:871adb9cf798 | 7 | Class based off of Christopher Hasler's Motordriver library found at |
electromotivated | 0:871adb9cf798 | 8 | https://developer.mbed.org/cookbook/Motor |
electromotivated | 0:871adb9cf798 | 9 | |
electromotivated | 0:871adb9cf798 | 10 | |
electromotivated | 0:871adb9cf798 | 11 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
electromotivated | 0:871adb9cf798 | 12 | * of this software and associated documentation files (the "Software"), to deal |
electromotivated | 0:871adb9cf798 | 13 | * in the Software without restriction, including without limitation the rights |
electromotivated | 0:871adb9cf798 | 14 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
electromotivated | 0:871adb9cf798 | 15 | * copies of the Software, and to permit persons to whom the Software is |
electromotivated | 0:871adb9cf798 | 16 | * furnished to do so, subject to the following conditions: |
electromotivated | 0:871adb9cf798 | 17 | * |
electromotivated | 0:871adb9cf798 | 18 | * The above copyright notice and this permission notice shall be included in |
electromotivated | 0:871adb9cf798 | 19 | * all copies or substantial portions of the Software. |
electromotivated | 0:871adb9cf798 | 20 | * |
electromotivated | 0:871adb9cf798 | 21 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
electromotivated | 0:871adb9cf798 | 22 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
electromotivated | 0:871adb9cf798 | 23 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
electromotivated | 0:871adb9cf798 | 24 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
electromotivated | 0:871adb9cf798 | 25 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
electromotivated | 0:871adb9cf798 | 26 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
electromotivated | 0:871adb9cf798 | 27 | * THE SOFTWARE. |
electromotivated | 0:871adb9cf798 | 28 | */ |
electromotivated | 0:871adb9cf798 | 29 | |
electromotivated | 0:871adb9cf798 | 30 | #ifndef MOTORDRIVER_H |
electromotivated | 0:871adb9cf798 | 31 | #define MOTORDRIVER_H |
electromotivated | 0:871adb9cf798 | 32 | |
electromotivated | 0:871adb9cf798 | 33 | #include "mbed.h" |
electromotivated | 0:871adb9cf798 | 34 | |
tgw | 1:19476b49822b | 35 | typedef enum {ERROR_M=0, DRIVING_CW=1, DRIVING_CCW=2, BRAKING=3, COASTING=4}Code_t; |
electromotivated | 0:871adb9cf798 | 36 | typedef struct{ |
electromotivated | 0:871adb9cf798 | 37 | Code_t code; |
electromotivated | 0:871adb9cf798 | 38 | float value; |
electromotivated | 0:871adb9cf798 | 39 | }State_t; |
electromotivated | 0:871adb9cf798 | 40 | |
electromotivated | 0:871adb9cf798 | 41 | class MotorDriver{ |
electromotivated | 0:871adb9cf798 | 42 | public: |
electromotivated | 0:871adb9cf798 | 43 | /* |
electromotivated | 0:871adb9cf798 | 44 | Constructor of MotorDriver Objects |
electromotivated | 0:871adb9cf798 | 45 | @param in_1 Direction Input 1 |
electromotivated | 0:871adb9cf798 | 46 | @param in_2 Direction Input 2 |
electromotivated | 0:871adb9cf798 | 47 | @param pwm PWM speed control input |
electromotivated | 0:871adb9cf798 | 48 | @param pwmFreq PWM frequency, some motors may whine at lower freqs |
electromotivated | 0:871adb9cf798 | 49 | @param isBrakable Boolean value indicating whether or not the |
electromotivated | 0:871adb9cf798 | 50 | motor driver is brakeable(see your datasheet) |
electromotivated | 0:871adb9cf798 | 51 | */ |
electromotivated | 0:871adb9cf798 | 52 | MotorDriver(DigitalOut in1, DigitalOut in2, PwmOut pwm, float pwmFreq, bool isBrakeable = false); |
electromotivated | 0:871adb9cf798 | 53 | |
electromotivated | 0:871adb9cf798 | 54 | /* |
electromotivated | 0:871adb9cf798 | 55 | Sets speed of motor normalized between -1.0 to 1.0 |
electromotivated | 0:871adb9cf798 | 56 | @param speed Value -1.0 to 1.0 (>0 CW at speed as percentage) |
electromotivated | 0:871adb9cf798 | 57 | (<0 CCW at speed as percentage) |
electromotivated | 0:871adb9cf798 | 58 | (=0 speed is zero) |
electromotivated | 0:871adb9cf798 | 59 | @return state of the motor |
electromotivated | 0:871adb9cf798 | 60 | NOTE: This method will NOT allow user to instantaneously swithch |
electromotivated | 0:871adb9cf798 | 61 | from CW to CCW or vise versa. Doing so will cause the motor to |
electromotivated | 0:871adb9cf798 | 62 | be put in to a BRAKE condition, while the motor_state.code will |
electromotivated | 0:871adb9cf798 | 63 | be updated to ERROR. User should avoid trying to do this, call |
electromotivated | 0:871adb9cf798 | 64 | first setSpeed(0) or brake(). |
electromotivated | 0:871adb9cf798 | 65 | */ |
electromotivated | 0:871adb9cf798 | 66 | State_t setSpeed(float speed); |
electromotivated | 0:871adb9cf798 | 67 | |
electromotivated | 0:871adb9cf798 | 68 | /* |
electromotivated | 0:871adb9cf798 | 69 | Same as setSpeed(float speed), however does not impose the safety disallowing |
electromotivated | 0:871adb9cf798 | 70 | instantaneous reversal of motor direction. It is up to the user to ensure they |
electromotivated | 0:871adb9cf798 | 71 | do not blow up their motor. |
electromotivated | 0:871adb9cf798 | 72 | */ |
electromotivated | 0:871adb9cf798 | 73 | State_t forceSetSpeed(float speed); |
electromotivated | 0:871adb9cf798 | 74 | |
electromotivated | 0:871adb9cf798 | 75 | /* |
electromotivated | 0:871adb9cf798 | 76 | Put motor into braked config |
electromotivated | 0:871adb9cf798 | 77 | @param intensity How hard to brake (0.0 to 1.0) |
electromotivated | 0:871adb9cf798 | 78 | @return state of the motors |
electromotivated | 0:871adb9cf798 | 79 | */ |
electromotivated | 0:871adb9cf798 | 80 | State_t brake(float intensity); |
electromotivated | 0:871adb9cf798 | 81 | |
electromotivated | 0:871adb9cf798 | 82 | /* |
electromotivated | 0:871adb9cf798 | 83 | Put motor into stop/coast config |
electromotivated | 0:871adb9cf798 | 84 | */ |
electromotivated | 0:871adb9cf798 | 85 | State_t coast(); |
electromotivated | 0:871adb9cf798 | 86 | |
electromotivated | 0:871adb9cf798 | 87 | |
electromotivated | 0:871adb9cf798 | 88 | /* |
electromotivated | 0:871adb9cf798 | 89 | Get state of the motor |
electromotivated | 0:871adb9cf798 | 90 | @return state of the motor |
electromotivated | 0:871adb9cf798 | 91 | */ |
electromotivated | 0:871adb9cf798 | 92 | State_t getState(); |
electromotivated | 0:871adb9cf798 | 93 | |
electromotivated | 0:871adb9cf798 | 94 | protected: // Protected so objects that inherit can access |
electromotivated | 0:871adb9cf798 | 95 | State_t motor_state; |
electromotivated | 0:871adb9cf798 | 96 | DigitalOut _in1; |
electromotivated | 0:871adb9cf798 | 97 | DigitalOut _in2; |
electromotivated | 0:871adb9cf798 | 98 | PwmOut _pwm; |
electromotivated | 0:871adb9cf798 | 99 | bool isBrakeable; |
electromotivated | 0:871adb9cf798 | 100 | void determineState(); // Determine motor state based on in1, in2, and pwm |
electromotivated | 0:871adb9cf798 | 101 | }; |
electromotivated | 0:871adb9cf798 | 102 | |
electromotivated | 0:871adb9cf798 | 103 | #endif |