Taylor Street / AP1017

AP1017 library for the Rev.E hardware with expanded capabilities.

Fork of AP1017 by AKM Development Platform

AP1017.h@4:c36159701cde, 2017-04-21 (annotated)

Committer:
tkstreet
Date:
Fri Apr 21 20:18:32 2017 +0000
Revision:
4:c36159701cde
Parent:
3:f8e70f639ed0
Child:
6:d4d3bc82d446
Debugged motor functions.  Added debugging serial messages.  Added isMotorOn() function.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 0:a0435a630c5d 1 #ifndef __AP1017_H
tkstreet 0:a0435a630c5d 2 #define __AP1017_H
tkstreet 0:a0435a630c5d 3
tkstreet 0:a0435a630c5d 4 #include "mbed.h"
tkstreet 0:a0435a630c5d 5
tkstreet 0:a0435a630c5d 6 #define MAX_FREQUENCY 5000
tkstreet 0:a0435a630c5d 7 #define ENABLE_PIN P0_10
tkstreet 1:4d4c77589134 8 #define INA_PIN P0_11
tkstreet 1:4d4c77589134 9 #define INB_PIN P0_9
tkstreet 0:a0435a630c5d 10
tkstreet 0:a0435a630c5d 11 /**
tkstreet 0:a0435a630c5d 12 * This is a device driver for the AP1017 with pulse width modulation.
tkstreet 0:a0435a630c5d 13 */
tkstreet 0:a0435a630c5d 14 class AP1017
tkstreet 0:a0435a630c5d 15 {
tkstreet 0:a0435a630c5d 16 public:
tkstreet 0:a0435a630c5d 17
tkstreet 2:8a644b1066c4 18 /**
tkstreet 2:8a644b1066c4 19 * Default constructor creates motors with PWM initial duty cycle of 0%.
tkstreet 2:8a644b1066c4 20 * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
tkstreet 2:8a644b1066c4 21 */
tkstreet 0:a0435a630c5d 22 AP1017(void);
tkstreet 0:a0435a630c5d 23
tkstreet 2:8a644b1066c4 24 /**
tkstreet 2:8a644b1066c4 25 * Disables PWM for the motors.
tkstreet 0:a0435a630c5d 26 */
tkstreet 0:a0435a630c5d 27 ~AP1017(void);
tkstreet 0:a0435a630c5d 28
tkstreet 2:8a644b1066c4 29 /**
tkstreet 2:8a644b1066c4 30 * Return status enumeration for debugging.
tkstreet 0:a0435a630c5d 31 */
tkstreet 0:a0435a630c5d 32 typedef enum {
tkstreet 0:a0435a630c5d 33 SUCCESS = 0x00, /**< Successful termination */
tkstreet 0:a0435a630c5d 34 ERROR_FREQUENCY = 0x01, /**< Frequency out of bounds */
tkstreet 0:a0435a630c5d 35 ERROR_DUTY_CYCLE = 0x02, /**< Invalid duty cycle */
tkstreet 0:a0435a630c5d 36 ERROR_DIRECTION = 0x03, /**< Invalid direction */
tkstreet 0:a0435a630c5d 37 ERROR_PERIOD = 0x04, /**< Invalid period */
tkstreet 0:a0435a630c5d 38 ERROR_PULSEWIDTH = 0x05, /**< Invalid pulse width */
tkstreet 0:a0435a630c5d 39 ERROR_MOTORON = 0x06 /**< Direction switched while motor on */
tkstreet 0:a0435a630c5d 40 } Status;
tkstreet 0:a0435a630c5d 41
tkstreet 2:8a644b1066c4 42 /**
tkstreet 2:8a644b1066c4 43 * Motor directions.
tkstreet 0:a0435a630c5d 44 */
tkstreet 0:a0435a630c5d 45 typedef enum {
tkstreet 0:a0435a630c5d 46 DIRECTION_CW = 0x00, /**< Clockwise motor rotation */
tkstreet 0:a0435a630c5d 47 DIRECTION_CCW = 0x01, /**< Counterclockwise motor rotation */
tkstreet 4:c36159701cde 48 DIRECTION_COAST = 0x02, /**< Release motor to coast */
tkstreet 4:c36159701cde 49 DIRECTION_BRAKE = 0x03 /**< Brake motor */
tkstreet 0:a0435a630c5d 50 } Rotation;
tkstreet 0:a0435a630c5d 51
tkstreet 0:a0435a630c5d 52
tkstreet 2:8a644b1066c4 53 /**
tkstreet 2:8a644b1066c4 54 * Sets the direction to clockwise, counterclockwise, brake or coast.
tkstreet 2:8a644b1066c4 55 * Changing between clockwise and counterclockwise may only be performed
tkstreet 2:8a644b1066c4 56 * when motor is off.
tkstreet 0:a0435a630c5d 57 *
tkstreet 2:8a644b1066c4 58 * @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
tkstreet 0:a0435a630c5d 59 * or DIRECTION_BRAKE
tkstreet 2:8a644b1066c4 60 * @return Returns successful termination, ERROR_MOTORON for invalid
tkstreet 0:a0435a630c5d 61 * direction switching, or ERROR_DIRECTION for invalid direction.
tkstreet 0:a0435a630c5d 62 */
tkstreet 3:f8e70f639ed0 63 Status setDirection(Rotation dir);
tkstreet 3:f8e70f639ed0 64
tkstreet 3:f8e70f639ed0 65 /**
tkstreet 3:f8e70f639ed0 66 * Returns the currently set direction.
tkstreet 3:f8e70f639ed0 67 */
tkstreet 3:f8e70f639ed0 68 Rotation getDirection(void);
tkstreet 0:a0435a630c5d 69
tkstreet 2:8a644b1066c4 70 /**
tkstreet 3:f8e70f639ed0 71 * Sets the speed via setting the duty cycle. Duty cycle given
tkstreet 3:f8e70f639ed0 72 * as a percentage.
tkstreet 0:a0435a630c5d 73 *
tkstreet 2:8a644b1066c4 74 * @param dc Duty cycle as a proportion (0.0 to 1.0).
tkstreet 2:8a644b1066c4 75 * @return Returns successful termination or dutyc cyle error.
tkstreet 0:a0435a630c5d 76 */
tkstreet 3:f8e70f639ed0 77 Status setSpeed(float dc);
tkstreet 0:a0435a630c5d 78
tkstreet 2:8a644b1066c4 79 /**
tkstreet 3:f8e70f639ed0 80 * Returns the currently set speed as a percentage.
tkstreet 0:a0435a630c5d 81 */
tkstreet 3:f8e70f639ed0 82 float getSpeed(void);
tkstreet 0:a0435a630c5d 83
tkstreet 2:8a644b1066c4 84 /**
tkstreet 2:8a644b1066c4 85 * Engages the motor.
tkstreet 2:8a644b1066c4 86 *
tkstreet 2:8a644b1066c4 87 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 88 */
tkstreet 3:f8e70f639ed0 89 Status start(void);
tkstreet 0:a0435a630c5d 90
tkstreet 2:8a644b1066c4 91 /**
tkstreet 2:8a644b1066c4 92 * Stops forced rotation of the motor.
tkstreet 2:8a644b1066c4 93 *
tkstreet 2:8a644b1066c4 94 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 95 */
tkstreet 3:f8e70f639ed0 96 Status stop(void);
tkstreet 0:a0435a630c5d 97
tkstreet 2:8a644b1066c4 98 /**
tkstreet 2:8a644b1066c4 99 * Applies forced braking of motor.
tkstreet 2:8a644b1066c4 100 *
tkstreet 2:8a644b1066c4 101 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 102 */
tkstreet 3:f8e70f639ed0 103 Status brake(void);
tkstreet 0:a0435a630c5d 104
tkstreet 0:a0435a630c5d 105 /**
tkstreet 2:8a644b1066c4 106 * Removes force from the motor and allows it to spin freely.
tkstreet 2:8a644b1066c4 107 *
tkstreet 2:8a644b1066c4 108 * @return Returns successful termination or pulse width error.
tkstreet 0:a0435a630c5d 109 */
tkstreet 3:f8e70f639ed0 110 Status coast(void);
tkstreet 4:c36159701cde 111
tkstreet 4:c36159701cde 112 /**
tkstreet 4:c36159701cde 113 * Checks if the motor is currently running.
tkstreet 4:c36159701cde 114 *
tkstreet 4:c36159701cde 115 * @return TRUE if motor is on, FALSE if not.
tkstreet 4:c36159701cde 116 */
tkstreet 4:c36159701cde 117 bool isMotorOn(void);
tkstreet 0:a0435a630c5d 118
tkstreet 0:a0435a630c5d 119 private:
tkstreet 0:a0435a630c5d 120
tkstreet 3:f8e70f639ed0 121 bool motorOn; // Status flag for the motor
tkstreet 3:f8e70f639ed0 122 float dutyCycle; // Given as proportion: 0.00 to 1.00
tkstreet 3:f8e70f639ed0 123 Rotation direction;
tkstreet 0:a0435a630c5d 124
tkstreet 3:f8e70f639ed0 125 PwmOut *motor; // Motor object
tkstreet 3:f8e70f639ed0 126
tkstreet 3:f8e70f639ed0 127 DigitalOut *inA; // Directions setting pin A
tkstreet 3:f8e70f639ed0 128 DigitalOut *inB; // Direction setting pin B
tkstreet 0:a0435a630c5d 129 /* inA=L, inB=L -> Standby (Coast)
tkstreet 0:a0435a630c5d 130 * inA=H, inB=L -> Forward (CW)
tkstreet 0:a0435a630c5d 131 * inA=L, inB=H -> Reverse (CCW)
tkstreet 0:a0435a630c5d 132 * inA=H, inB=H -> Brake
tkstreet 0:a0435a630c5d 133 */
tkstreet 0:a0435a630c5d 134
tkstreet 0:a0435a630c5d 135 };
tkstreet 0:a0435a630c5d 136
tkstreet 0:a0435a630c5d 137 #endif