AP1017 library for the Rev.E hardware with expanded capabilities.
Fork of AP1017 by
AP1017.cpp
- Committer:
- tkstreet
- Date:
- 2017-04-14
- Revision:
- 0:a0435a630c5d
- Child:
- 1:4d4c77589134
File content as of revision 0:a0435a630c5d:
#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; }