Taylor Street / AP1017

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

Fork of AP1017 by AKM Development Platform

AP1017.cpp@3:f8e70f639ed0, 2017-04-19 (annotated)

Committer:
tkstreet
Date:
Wed Apr 19 23:13:04 2017 +0000
Revision:
3:f8e70f639ed0
Parent:
1:4d4c77589134
Child:
4:c36159701cde
Simplified motor driver by reducing instruction set to basic operations.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 0:a0435a630c5d 1 #include "AP1017.h"
tkstreet 0:a0435a630c5d 2
tkstreet 0:a0435a630c5d 3 /******************** Constructors & Destructors ****************************/
tkstreet 0:a0435a630c5d 4
tkstreet 0:a0435a630c5d 5 // Default constructor
tkstreet 3:f8e70f639ed0 6 AP1017::AP1017(void) : motorOn(false), dutyCycle(0.0)
tkstreet 0:a0435a630c5d 7 {
tkstreet 3:f8e70f639ed0 8 motor = new PwmOut(P0_10);
tkstreet 3:f8e70f639ed0 9 inA = new DigitalOut(P0_11);
tkstreet 3:f8e70f639ed0 10 inB = new DigitalOut(P0_10);
tkstreet 0:a0435a630c5d 11 }
tkstreet 0:a0435a630c5d 12
tkstreet 0:a0435a630c5d 13 // Default destructor
tkstreet 0:a0435a630c5d 14 AP1017::~AP1017(void)
tkstreet 0:a0435a630c5d 15 {
tkstreet 3:f8e70f639ed0 16 stop();
tkstreet 1:4d4c77589134 17 delete inA, inB, motor;
tkstreet 0:a0435a630c5d 18 }
tkstreet 0:a0435a630c5d 19
tkstreet 0:a0435a630c5d 20 /*********************** Member Functions ***********************************/
tkstreet 0:a0435a630c5d 21
tkstreet 3:f8e70f639ed0 22 AP1017::Status AP1017::setDirection(Rotation dir)
tkstreet 0:a0435a630c5d 23 {
tkstreet 3:f8e70f639ed0 24 direction = dir;
tkstreet 0:a0435a630c5d 25
tkstreet 3:f8e70f639ed0 26 switch(direction){
tkstreet 0:a0435a630c5d 27 case DIRECTION_CW:
tkstreet 0:a0435a630c5d 28 if(motorOn == true && dir == DIRECTION_CCW)
tkstreet 0:a0435a630c5d 29 return ERROR_MOTORON;
tkstreet 1:4d4c77589134 30 inA->write(1);
tkstreet 1:4d4c77589134 31 inB->write(0);
tkstreet 0:a0435a630c5d 32 break;
tkstreet 0:a0435a630c5d 33 case DIRECTION_CCW:
tkstreet 0:a0435a630c5d 34 if(motorOn == true && dir == DIRECTION_CW)
tkstreet 0:a0435a630c5d 35 return ERROR_MOTORON;
tkstreet 1:4d4c77589134 36 inA->write(0);
tkstreet 1:4d4c77589134 37 inB->write(1);
tkstreet 0:a0435a630c5d 38 break;
tkstreet 0:a0435a630c5d 39 case DIRECTION_BRAKE:
tkstreet 1:4d4c77589134 40 inA->write(1);
tkstreet 1:4d4c77589134 41 inB->write(1);
tkstreet 0:a0435a630c5d 42 break;
tkstreet 0:a0435a630c5d 43 case DIRECTION_COAST:
tkstreet 1:4d4c77589134 44 inA->write(0);
tkstreet 1:4d4c77589134 45 inB->write(0);
tkstreet 0:a0435a630c5d 46 motorOn = false;
tkstreet 0:a0435a630c5d 47 break;
tkstreet 0:a0435a630c5d 48 default:
tkstreet 0:a0435a630c5d 49 return ERROR_DIRECTION;
tkstreet 0:a0435a630c5d 50 }
tkstreet 0:a0435a630c5d 51
tkstreet 0:a0435a630c5d 52 return SUCCESS;
tkstreet 0:a0435a630c5d 53 }
tkstreet 0:a0435a630c5d 54
tkstreet 3:f8e70f639ed0 55
tkstreet 3:f8e70f639ed0 56 AP1017::Rotation AP1017::getDirection(void)
tkstreet 0:a0435a630c5d 57 {
tkstreet 3:f8e70f639ed0 58 return direction;
tkstreet 3:f8e70f639ed0 59 }
tkstreet 3:f8e70f639ed0 60
tkstreet 0:a0435a630c5d 61
tkstreet 3:f8e70f639ed0 62 AP1017::Status AP1017::setSpeed(float dc)
tkstreet 3:f8e70f639ed0 63 {
tkstreet 3:f8e70f639ed0 64 if((dutyCycle <= 100.0) && (dutyCycle >= 0.0)){
tkstreet 3:f8e70f639ed0 65 dutyCycle = dc/100.0;
tkstreet 0:a0435a630c5d 66
tkstreet 0:a0435a630c5d 67 if(motorOn == true){
tkstreet 1:4d4c77589134 68 motor->write(dutyCycle); // If motor is on, keep it on
tkstreet 0:a0435a630c5d 69 }
tkstreet 0:a0435a630c5d 70 }
tkstreet 0:a0435a630c5d 71 else{
tkstreet 0:a0435a630c5d 72 dutyCycle = 0.0;
tkstreet 0:a0435a630c5d 73
tkstreet 0:a0435a630c5d 74 return ERROR_DUTY_CYCLE;
tkstreet 0:a0435a630c5d 75 }
tkstreet 0:a0435a630c5d 76
tkstreet 0:a0435a630c5d 77 return SUCCESS;
tkstreet 0:a0435a630c5d 78 }
tkstreet 0:a0435a630c5d 79
tkstreet 0:a0435a630c5d 80
tkstreet 3:f8e70f639ed0 81 float AP1017::getSpeed(void)
tkstreet 0:a0435a630c5d 82 {
tkstreet 3:f8e70f639ed0 83 return dutyCycle*100.0;
tkstreet 0:a0435a630c5d 84 }
tkstreet 0:a0435a630c5d 85
tkstreet 0:a0435a630c5d 86
tkstreet 3:f8e70f639ed0 87 AP1017::Status AP1017::start(void)
tkstreet 0:a0435a630c5d 88 {
tkstreet 3:f8e70f639ed0 89 motor->write(dutyCycle); // Set duty cycle, start motor
tkstreet 0:a0435a630c5d 90 motorOn = true; // Set ON flag
tkstreet 0:a0435a630c5d 91
tkstreet 0:a0435a630c5d 92 return SUCCESS;
tkstreet 0:a0435a630c5d 93 }
tkstreet 0:a0435a630c5d 94
tkstreet 0:a0435a630c5d 95
tkstreet 3:f8e70f639ed0 96 AP1017::Status AP1017::stop(void)
tkstreet 0:a0435a630c5d 97 {
tkstreet 3:f8e70f639ed0 98 motor->write(0.0); // turn motor off (duty cycle saved)
tkstreet 0:a0435a630c5d 99 motorOn = false; // Set OFF flag
tkstreet 0:a0435a630c5d 100
tkstreet 0:a0435a630c5d 101 return SUCCESS;
tkstreet 0:a0435a630c5d 102 }
tkstreet 0:a0435a630c5d 103
tkstreet 3:f8e70f639ed0 104 AP1017::Status AP1017::brake(void)
tkstreet 0:a0435a630c5d 105 {
tkstreet 0:a0435a630c5d 106 setDirection(DIRECTION_BRAKE);
tkstreet 0:a0435a630c5d 107 return SUCCESS;
tkstreet 0:a0435a630c5d 108 }
tkstreet 0:a0435a630c5d 109
tkstreet 3:f8e70f639ed0 110 AP1017::Status AP1017::coast(void)
tkstreet 0:a0435a630c5d 111 {
tkstreet 0:a0435a630c5d 112 setDirection(DIRECTION_COAST);
tkstreet 0:a0435a630c5d 113 return SUCCESS;
tkstreet 0:a0435a630c5d 114 }