AP1017 library for the Rev.E hardware with expanded capabilities.
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Diff: AP1017.cpp
- Revision:
- 0:a0435a630c5d
- Child:
- 1:4d4c77589134
diff -r 000000000000 -r a0435a630c5d AP1017.cpp --- /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