Nhi vtq / DCMotorControl

To control motors of Arduino motor shield L293D v1

DCMotorControl.h@0:90137e94bed0, 2017-09-21 (annotated)

Committer:
vtqNhi
Date:
Thu Sep 21 15:57:56 2017 +0000
Revision:
0:90137e94bed0
The library is written to control the motors of arduino motor shield v1, which include of 2 L293D motor ICs and 1 74HC595 shift register ICs.; The library original purpose is for a project which uses FRDM-KL25X to control the attached motor shield.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vtqNhi 0:90137e94bed0 1 /*
vtqNhi 0:90137e94bed0 2 This library is written to control 4 motors of the arduino motor shield L293D V1 (https://i0.wp.com/sribasu.com/wp-content/uploads/2015/11/adafruit-motor-shield-v1-connect-dc-and-servo-motors.jpg)
vtqNhi 0:90137e94bed0 3 The code specificly control the 2 pwm pins of 2 L293D ICs and serial, clock, latch, enable pins of 74HC595 (shift register)
vtqNhi 0:90137e94bed0 4
vtqNhi 0:90137e94bed0 5 The library is purposely examined on board FRDM-KL25Z. However, an appropriate defining the pins in main.cpp will make it suitable for other boards too.
vtqNhi 0:90137e94bed0 6 ==This code is written by Vo Trieu Quang Nhi on 21-9-17==
vtqNhi 0:90137e94bed0 7
vtqNhi 0:90137e94bed0 8
vtqNhi 0:90137e94bed0 9 //~~example main.cpp~~
vtqNhi 0:90137e94bed0 10 #include "mbed.h"
vtqNhi 0:90137e94bed0 11 #include "DCMotorControl.h"
vtqNhi 0:90137e94bed0 12
vtqNhi 0:90137e94bed0 13 //The board is FRDM-KL25Z
vtqNhi 0:90137e94bed0 14 //Using the user guide of this board and identify the pin control pwm1 pwm2 pwm3 pwm4 data clock latch enable (of motor shiled)
vtqNhi 0:90137e94bed0 15 //Here it is PTD2, PTA12, PTC8, PTA5, PTA13, PTA4, PTD3, PTC9
vtqNhi 0:90137e94bed0 16 Motor myMotor(PTD2, PTA12, PTC8, PTA5, PTA13, PTA4, PTD3, PTC9);
vtqNhi 0:90137e94bed0 17
vtqNhi 0:90137e94bed0 18 //The code below is a test to turn motor from terminant B to terminant A
vtqNhi 0:90137e94bed0 19 //begin speed is 10% then 50% and 100% with 3 seconds delay with the previous speed
vtqNhi 0:90137e94bed0 20 int main(void)
vtqNhi 0:90137e94bed0 21 {
vtqNhi 0:90137e94bed0 22 myMotor.Direction(0,1,0,1,0,1,0,1);
vtqNhi 0:90137e94bed0 23 int i = 10;
vtqNhi 0:90137e94bed0 24 myMotor.setSpeed(i,i,i,i);
vtqNhi 0:90137e94bed0 25 wait(3);
vtqNhi 0:90137e94bed0 26 i=50;
vtqNhi 0:90137e94bed0 27 myMotor.setSpeed(i,i,i,i);
vtqNhi 0:90137e94bed0 28 wait(3);
vtqNhi 0:90137e94bed0 29 i=100;
vtqNhi 0:90137e94bed0 30 myMotor.setSpeed(i,i,i,i);
vtqNhi 0:90137e94bed0 31 }
vtqNhi 0:90137e94bed0 32 //~~end example~~
vtqNhi 0:90137e94bed0 33 */
vtqNhi 0:90137e94bed0 34
vtqNhi 0:90137e94bed0 35 #ifndef MBED_MOTOR_H
vtqNhi 0:90137e94bed0 36 #define MBED_MOTOR_H
vtqNhi 0:90137e94bed0 37
vtqNhi 0:90137e94bed0 38 #include "mbed.h"
vtqNhi 0:90137e94bed0 39
vtqNhi 0:90137e94bed0 40 class Motor
vtqNhi 0:90137e94bed0 41 {
vtqNhi 0:90137e94bed0 42 public:
vtqNhi 0:90137e94bed0 43 Motor(PinName pwm1, PinName pwm2, PinName pwm3, PinName pwm4, PinName data_pin, PinName clock_pin, PinName latch_pin, PinName enable_pin);
vtqNhi 0:90137e94bed0 44 void Direction(int M1a, int M1b, int M2a, int M2b, int M3a, int M3b, int M4a, int M4b);
vtqNhi 0:90137e94bed0 45 void setSpeed(float percentage_M1, float percentage_M2, float percentage_M3, float percentage_M4);
vtqNhi 0:90137e94bed0 46 private:
vtqNhi 0:90137e94bed0 47 PwmOut _pwm1;//pwm1
vtqNhi 0:90137e94bed0 48 PwmOut _pwm2;//pwm2
vtqNhi 0:90137e94bed0 49 PwmOut _pwm3;//pwm3
vtqNhi 0:90137e94bed0 50 PwmOut _pwm4;//pwm4
vtqNhi 0:90137e94bed0 51
vtqNhi 0:90137e94bed0 52 DigitalOut _SERIALDATA;//serial data
vtqNhi 0:90137e94bed0 53 DigitalOut _CLOCK;//clock
vtqNhi 0:90137e94bed0 54 DigitalOut _LATCH;//latch
vtqNhi 0:90137e94bed0 55 DigitalOut _ENABLE;//enable, set low to be in duty
vtqNhi 0:90137e94bed0 56 };
vtqNhi 0:90137e94bed0 57
vtqNhi 0:90137e94bed0 58 #endif