Diff: AP1017.cpp

Revision:

0:a0435a630c5d

Child:

1:4d4c77589134

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AP1017.cpp	Fri Apr 14 19:35:08 2017 +0000
@@ -0,0 +1,156 @@
+#include "AP1017.h"
+
+/******************** Constructors & Destructors ****************************/
+
+// Default constructor
+AP1017::AP1017(void) : motorOn(false), dutyCycle(0.50), pwmPeriod_us(200),
+                        motor(ENABLE_PIN), inA(INPUTA_PIN), inB(INPUTB_PIN)
+{
+    freq_hz = 0.000001/pwmPeriod_us;            // Derive frequency
+    pulseWidth_us = dutyCycle * pwmPeriod_us;   // Derive pulse width
+    stopMotor();                                // Keep motor off
+}
+
+// Default destructor
+AP1017::~AP1017(void)
+{
+    stopMotor();
+    
+    if(ap1017)
+        delete ap1017;
+}
+
+/*********************** Member Functions ***********************************/
+
+AP1017::Status AP1017::setDirection(char dir)
+{
+
+    switch(dir){
+        case DIRECTION_CW:
+            if(motorOn == true && dir == DIRECTION_CCW)
+                return ERROR_MOTORON;
+            inA.write(1);
+            inB.write(0);
+            motorOn = true;
+            break;
+        case DIRECTION_CCW:
+            if(motorOn == true && dir == DIRECTION_CW)
+                return ERROR_MOTORON;
+            inA.write(0);
+            inB.write(1);
+            motorOn = true;
+            break;
+        case DIRECTION_BRAKE:
+            inA.write(1);
+            inB.write(1);
+            motorOn = true;
+            break;
+        case DIRECTION_COAST:
+            inA.write(0);
+            inB.write(0);
+            motorOn = false;
+            break;
+        default:
+            return ERROR_DIRECTION;
+    }
+
+    return SUCCESS;
+}
+
+AP1017::Status AP1017::setDutyCycle(float dc)
+{
+    if((dutyCycle <= 1.00) && (dutyCycle >= 0.0)){
+        dutyCycle = dc;
+
+        pulseWidth_us = dutyCycle * pwmPeriod_us; // Override pulse width
+
+        if(motorOn == true){
+            motor.write(dutyCycle);          // If motor is on, keep it on
+        }
+
+    }
+    else{
+        dutyCycle = 0.0;
+        pulseWidth_us = 0.0;
+
+        return ERROR_DUTY_CYCLE;
+    }
+
+    return SUCCESS;
+}
+
+
+AP1017::Status AP1017::setFrequency(float freq)
+{
+    if(freq > MAX_FREQUENCY){
+        return ERROR_FREQUENCY;
+    }
+
+    freq_hz = freq;
+    pwmPeriod_us = (1/freq)/0.000001;        // Calculate the period
+
+    return SUCCESS;
+}
+
+
+AP1017::Status AP1017::setPeriod_us(float per)
+{
+    if(per < 0){
+        return ERROR_PERIOD;
+    }
+
+    pwmPeriod_us = per;
+
+    freq_hz = 1/(per * 0.000001);   // Calculate the frequency
+
+    if(motorOn == true){                // If motor on, keep it on
+        motor.period_us(pwmPeriod_us);
+    }
+
+    return SUCCESS;
+}
+
+
+ AP1017::Status AP1017::setPulseWidth_us(float pw)
+ {
+     if((pw <= 0.0) || (pw > pwmPeriod_us)){
+         return ERROR_PULSEWIDTH;
+     }
+
+     dutyCycle = pw/pwmPeriod_us;     // Override duty cycle
+     pulseWidth_us = pw;
+
+     return SUCCESS;
+ }
+
+
+AP1017::Status AP1017::startMotor(void)
+{
+    motor.period_us(pwmPeriod_us);          // Set the period
+    motor.pulsewidth_us(pulseWidth_us);     // Set the pulse width
+    motor.write(dutyCycle);                 // Set duty cycle, start motor
+    motorOn = true;                         // Set ON flag
+
+    return SUCCESS;
+}
+
+
+AP1017::Status AP1017::stopMotor(void)
+{
+    motor.write(0.0);                       // turn motor off (duty cycle saved)
+    motorOn = false;                        // Set OFF flag
+
+    return SUCCESS;
+}
+
+AP1017::Status  AP1017::brakeMotor(void)
+{
+    setDirection(DIRECTION_BRAKE);
+    return SUCCESS;
+}
+
+AP1017::Status  AP1017::coastMotor(void)
+{
+    setDirection(DIRECTION_COAST);
+    return SUCCESS;
+}
\ No newline at end of file