AP1017 library for the Rev.E hardware with expanded capabilities.
Fork of AP1017 by
AP1017.h@13:1bea9a9412cb, 2018-08-10 (annotated)
- Committer:
- tkstreet
- Date:
- Fri Aug 10 17:31:09 2018 +0000
- Revision:
- 13:1bea9a9412cb
- Parent:
- 11:ac867fa4aa10
Removed calls to debug library.
Who changed what in which revision?
User | Revision | Line number | New 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 | /** |
tkstreet | 0:a0435a630c5d | 7 | * This is a device driver for the AP1017 with pulse width modulation. |
tkstreet | 0:a0435a630c5d | 8 | */ |
tkstreet | 0:a0435a630c5d | 9 | class AP1017 |
tkstreet | 0:a0435a630c5d | 10 | { |
tkstreet | 0:a0435a630c5d | 11 | public: |
tkstreet | 0:a0435a630c5d | 12 | |
tkstreet | 2:8a644b1066c4 | 13 | /** |
tkstreet | 2:8a644b1066c4 | 14 | * Default constructor creates motors with PWM initial duty cycle of 0%. |
tkstreet | 11:ac867fa4aa10 | 15 | * Motor EN pin connected to D9, INA connected to D0, INB connected to D1. |
tkstreet | 2:8a644b1066c4 | 16 | */ |
tkstreet | 11:ac867fa4aa10 | 17 | AP1017(DigitalOut* InputA, DigitalOut* InputB, DigitalOut* Enable); |
tkstreet | 0:a0435a630c5d | 18 | |
tkstreet | 2:8a644b1066c4 | 19 | /** |
tkstreet | 2:8a644b1066c4 | 20 | * Disables PWM for the motors. |
tkstreet | 0:a0435a630c5d | 21 | */ |
tkstreet | 0:a0435a630c5d | 22 | ~AP1017(void); |
tkstreet | 0:a0435a630c5d | 23 | |
tkstreet | 2:8a644b1066c4 | 24 | /** |
tkstreet | 2:8a644b1066c4 | 25 | * Return status enumeration for debugging. |
tkstreet | 0:a0435a630c5d | 26 | */ |
tkstreet | 0:a0435a630c5d | 27 | typedef enum { |
tkstreet | 0:a0435a630c5d | 28 | SUCCESS = 0x00, /**< Successful termination */ |
tkstreet | 0:a0435a630c5d | 29 | ERROR_FREQUENCY = 0x01, /**< Frequency out of bounds */ |
tkstreet | 0:a0435a630c5d | 30 | ERROR_DUTY_CYCLE = 0x02, /**< Invalid duty cycle */ |
tkstreet | 0:a0435a630c5d | 31 | ERROR_DIRECTION = 0x03, /**< Invalid direction */ |
tkstreet | 0:a0435a630c5d | 32 | ERROR_PERIOD = 0x04, /**< Invalid period */ |
tkstreet | 0:a0435a630c5d | 33 | ERROR_PULSEWIDTH = 0x05, /**< Invalid pulse width */ |
tkstreet | 0:a0435a630c5d | 34 | ERROR_MOTORON = 0x06 /**< Direction switched while motor on */ |
tkstreet | 0:a0435a630c5d | 35 | } Status; |
tkstreet | 0:a0435a630c5d | 36 | |
tkstreet | 2:8a644b1066c4 | 37 | /** |
tkstreet | 2:8a644b1066c4 | 38 | * Motor directions. |
tkstreet | 0:a0435a630c5d | 39 | */ |
tkstreet | 0:a0435a630c5d | 40 | typedef enum { |
tkstreet | 0:a0435a630c5d | 41 | DIRECTION_CW = 0x00, /**< Clockwise motor rotation */ |
tkstreet | 0:a0435a630c5d | 42 | DIRECTION_CCW = 0x01, /**< Counterclockwise motor rotation */ |
tkstreet | 4:c36159701cde | 43 | DIRECTION_COAST = 0x02, /**< Release motor to coast */ |
tkstreet | 4:c36159701cde | 44 | DIRECTION_BRAKE = 0x03 /**< Brake motor */ |
tkstreet | 0:a0435a630c5d | 45 | } Rotation; |
tkstreet | 0:a0435a630c5d | 46 | |
tkstreet | 0:a0435a630c5d | 47 | |
tkstreet | 2:8a644b1066c4 | 48 | /** |
tkstreet | 2:8a644b1066c4 | 49 | * Sets the direction to clockwise, counterclockwise, brake or coast. |
tkstreet | 2:8a644b1066c4 | 50 | * Changing between clockwise and counterclockwise may only be performed |
tkstreet | 2:8a644b1066c4 | 51 | * when motor is off. |
tkstreet | 0:a0435a630c5d | 52 | * |
tkstreet | 2:8a644b1066c4 | 53 | * @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST, |
tkstreet | 0:a0435a630c5d | 54 | * or DIRECTION_BRAKE |
tkstreet | 2:8a644b1066c4 | 55 | * @return Returns successful termination, ERROR_MOTORON for invalid |
tkstreet | 0:a0435a630c5d | 56 | * direction switching, or ERROR_DIRECTION for invalid direction. |
tkstreet | 0:a0435a630c5d | 57 | */ |
tkstreet | 3:f8e70f639ed0 | 58 | Status setDirection(Rotation dir); |
tkstreet | 3:f8e70f639ed0 | 59 | |
tkstreet | 3:f8e70f639ed0 | 60 | /** |
tkstreet | 3:f8e70f639ed0 | 61 | * Returns the currently set direction. |
tkstreet | 3:f8e70f639ed0 | 62 | */ |
tkstreet | 3:f8e70f639ed0 | 63 | Rotation getDirection(void); |
tkstreet | 0:a0435a630c5d | 64 | |
tkstreet | 2:8a644b1066c4 | 65 | /** |
tkstreet | 3:f8e70f639ed0 | 66 | * Sets the speed via setting the duty cycle. Duty cycle given |
tkstreet | 3:f8e70f639ed0 | 67 | * as a percentage. |
tkstreet | 0:a0435a630c5d | 68 | * |
tkstreet | 2:8a644b1066c4 | 69 | * @param dc Duty cycle as a proportion (0.0 to 1.0). |
tkstreet | 2:8a644b1066c4 | 70 | * @return Returns successful termination or dutyc cyle error. |
tkstreet | 0:a0435a630c5d | 71 | */ |
tkstreet | 11:ac867fa4aa10 | 72 | Status setSpeed(double dc); |
tkstreet | 0:a0435a630c5d | 73 | |
tkstreet | 2:8a644b1066c4 | 74 | /** |
tkstreet | 3:f8e70f639ed0 | 75 | * Returns the currently set speed as a percentage. |
tkstreet | 0:a0435a630c5d | 76 | */ |
tkstreet | 11:ac867fa4aa10 | 77 | double getSpeed(void); |
tkstreet | 0:a0435a630c5d | 78 | |
tkstreet | 2:8a644b1066c4 | 79 | /** |
tkstreet | 2:8a644b1066c4 | 80 | * Engages the motor. |
tkstreet | 2:8a644b1066c4 | 81 | * |
tkstreet | 2:8a644b1066c4 | 82 | * @return Returns successful termination or pulse width error. |
tkstreet | 0:a0435a630c5d | 83 | */ |
tkstreet | 3:f8e70f639ed0 | 84 | Status start(void); |
tkstreet | 0:a0435a630c5d | 85 | |
tkstreet | 2:8a644b1066c4 | 86 | /** |
tkstreet | 2:8a644b1066c4 | 87 | * Stops forced rotation of the motor. |
tkstreet | 2:8a644b1066c4 | 88 | * |
tkstreet | 2:8a644b1066c4 | 89 | * @return Returns successful termination or pulse width error. |
tkstreet | 0:a0435a630c5d | 90 | */ |
tkstreet | 3:f8e70f639ed0 | 91 | Status stop(void); |
tkstreet | 0:a0435a630c5d | 92 | |
tkstreet | 2:8a644b1066c4 | 93 | /** |
tkstreet | 2:8a644b1066c4 | 94 | * Applies forced braking of motor. |
tkstreet | 2:8a644b1066c4 | 95 | * |
tkstreet | 2:8a644b1066c4 | 96 | * @return Returns successful termination or pulse width error. |
tkstreet | 0:a0435a630c5d | 97 | */ |
tkstreet | 3:f8e70f639ed0 | 98 | Status brake(void); |
tkstreet | 0:a0435a630c5d | 99 | |
tkstreet | 0:a0435a630c5d | 100 | /** |
tkstreet | 2:8a644b1066c4 | 101 | * Removes force from the motor and allows it to spin freely. |
tkstreet | 2:8a644b1066c4 | 102 | * |
tkstreet | 2:8a644b1066c4 | 103 | * @return Returns successful termination or pulse width error. |
tkstreet | 0:a0435a630c5d | 104 | */ |
tkstreet | 3:f8e70f639ed0 | 105 | Status coast(void); |
tkstreet | 4:c36159701cde | 106 | |
tkstreet | 4:c36159701cde | 107 | /** |
tkstreet | 4:c36159701cde | 108 | * Checks if the motor is currently running. |
tkstreet | 4:c36159701cde | 109 | * |
tkstreet | 4:c36159701cde | 110 | * @return TRUE if motor is on, FALSE if not. |
tkstreet | 4:c36159701cde | 111 | */ |
tkstreet | 4:c36159701cde | 112 | bool isMotorOn(void); |
tkstreet | 0:a0435a630c5d | 113 | |
tkstreet | 0:a0435a630c5d | 114 | private: |
tkstreet | 0:a0435a630c5d | 115 | |
tkstreet | 3:f8e70f639ed0 | 116 | bool motorOn; // Status flag for the motor |
tkstreet | 11:ac867fa4aa10 | 117 | double dutyCycle; // Given as proportion: 0.00 to 1.00 |
tkstreet | 3:f8e70f639ed0 | 118 | Rotation direction; |
tkstreet | 0:a0435a630c5d | 119 | |
tkstreet | 9:1ca7d16de1c4 | 120 | DigitalOut* inA; |
tkstreet | 9:1ca7d16de1c4 | 121 | DigitalOut* inB; |
tkstreet | 11:ac867fa4aa10 | 122 | DigitalOut* en; |
tkstreet | 0:a0435a630c5d | 123 | /* inA=L, inB=L -> Standby (Coast) |
tkstreet | 0:a0435a630c5d | 124 | * inA=H, inB=L -> Forward (CW) |
tkstreet | 0:a0435a630c5d | 125 | * inA=L, inB=H -> Reverse (CCW) |
tkstreet | 0:a0435a630c5d | 126 | * inA=H, inB=H -> Brake |
tkstreet | 0:a0435a630c5d | 127 | */ |
tkstreet | 0:a0435a630c5d | 128 | |
tkstreet | 0:a0435a630c5d | 129 | }; |
tkstreet | 0:a0435a630c5d | 130 | |
tkstreet | 0:a0435a630c5d | 131 | #endif |