Tristan Vlogman / motorConfig

Sets motor currents based on input motorvalue

motorConfig.cpp@0:131a76b8848a, 2017-10-17 (annotated)

Committer:
tvlogman
Date:
Tue Oct 17 09:51:50 2017 +0000
Revision:
0:131a76b8848a
Child:
1:84cb991c4d28
Now works!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tvlogman 0:131a76b8848a 1 #include "motorConfig.h"
tvlogman 0:131a76b8848a 2 #include "mbed.h"
tvlogman 0:131a76b8848a 3 #include "FastPWM.h"
tvlogman 0:131a76b8848a 4
tvlogman 0:131a76b8848a 5 // Member function definitions
tvlogman 0:131a76b8848a 6 motorConfig::motorConfig(PinName a, PinName b, PinName c, PinName d, PinName e):ledG(a),ledR(b),ledB(c),directionPin(e),pwmPin(d){
tvlogman 0:131a76b8848a 7 currentState = KILLED;
tvlogman 0:131a76b8848a 8 pwmPin.period(1.0/5000.0);
tvlogman 0:131a76b8848a 9 directionPin = 0;
tvlogman 0:131a76b8848a 10 }
tvlogman 0:131a76b8848a 11
tvlogman 0:131a76b8848a 12 void motorConfig::setMotor(float motorValue){
tvlogman 0:131a76b8848a 13 switch(currentState){
tvlogman 0:131a76b8848a 14 case KILLED:
tvlogman 0:131a76b8848a 15 pwmPin.write(0.0);
tvlogman 0:131a76b8848a 16 // Set motor direction
tvlogman 0:131a76b8848a 17 if (motorValue >=0){
tvlogman 0:131a76b8848a 18 // corresponds to CW rotation of motor axle
tvlogman 0:131a76b8848a 19 directionPin = 0;
tvlogman 0:131a76b8848a 20 } else if(motorValue < 0){
tvlogman 0:131a76b8848a 21 // corresponds to CCW rotation of motor axle
tvlogman 0:131a76b8848a 22 directionPin = 1;
tvlogman 0:131a76b8848a 23 }
tvlogman 0:131a76b8848a 24 ledR = 0;
tvlogman 0:131a76b8848a 25 ledG = 1;
tvlogman 0:131a76b8848a 26 ledB = 1;
tvlogman 0:131a76b8848a 27 break;
tvlogman 0:131a76b8848a 28 case ACTIVE:
tvlogman 0:131a76b8848a 29 // Set motor direction
tvlogman 0:131a76b8848a 30 if (motorValue >=0){
tvlogman 0:131a76b8848a 31 // corresponds to CW rotation of motor axle
tvlogman 0:131a76b8848a 32 directionPin.write(0);
tvlogman 0:131a76b8848a 33 } else if(motorValue < 0){
tvlogman 0:131a76b8848a 34 // corresponds to CCW rotation of motor axle
tvlogman 0:131a76b8848a 35 directionPin.write(1);
tvlogman 0:131a76b8848a 36 }
tvlogman 0:131a76b8848a 37
tvlogman 0:131a76b8848a 38 // Set motor speed
tvlogman 0:131a76b8848a 39 if (fabs(motorValue)>1){
tvlogman 0:131a76b8848a 40 pwmPin = 1.0;
tvlogman 0:131a76b8848a 41 }
tvlogman 0:131a76b8848a 42 else {
tvlogman 0:131a76b8848a 43 pwmPin.write(fabs(motorValue) + 0.4);
tvlogman 0:131a76b8848a 44 }
tvlogman 0:131a76b8848a 45 ledR = 1;
tvlogman 0:131a76b8848a 46 ledG = 1;
tvlogman 0:131a76b8848a 47 ledB = 0;
tvlogman 0:131a76b8848a 48 break;
tvlogman 0:131a76b8848a 49 }
tvlogman 0:131a76b8848a 50 }
tvlogman 0:131a76b8848a 51
tvlogman 0:131a76b8848a 52 void motorConfig::turnMotorOn(){
tvlogman 0:131a76b8848a 53 currentState = ACTIVE;
tvlogman 0:131a76b8848a 54 }
tvlogman 0:131a76b8848a 55
tvlogman 0:131a76b8848a 56 void motorConfig::killSwitch(){
tvlogman 0:131a76b8848a 57 currentState = KILLED;
tvlogman 0:131a76b8848a 58 }