Diff: DCMotorControl.cpp

Revision:

0:90137e94bed0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DCMotorControl.cpp	Thu Sep 21 15:57:56 2017 +0000
@@ -0,0 +1,59 @@
+#include "mbed.h"
+#include "DCMotorControl.h"
+
+//To begin using this library, define these pin in main.cpp
+//pwm1 = pwm pin of motor 1 and so on
+//data, clock, latch, enable pin
+Motor::Motor(PinName pwm1, PinName pwm2, PinName pwm3, PinName pwm4, PinName data_pin, PinName clock_pin, PinName latch_pin, PinName enable_pin) : _pwm1(pwm1), _pwm2(pwm2), _pwm3(pwm3), _pwm4(pwm4), _SERIALDATA(data_pin), _CLOCK(clock_pin), _LATCH(latch_pin), _ENABLE(enable_pin)
+{
+    _ENABLE.write(0);//set low to enable output - active low
+    _LATCH.write(1);//set high to send if any data is storage
+    _LATCH.write(0);//set back to low
+}
+
+//define turning direction of 4 motors - if set M1a value to be 1 and M1b value to be 0, will make terminant M1A on the shield have higher volatage than terminant M1B
+void Motor::Direction(int M1a, int M1b, int M2a, int M2b, int M3a, int M3b, int M4a, int M4b)
+{
+    //define direction of each motor
+    //Note: due to unknow reason, the order of these M motor pins may differrent from schematic info but it works for my case
+    int M_ab[8];
+    M_ab[0] = M3a;
+    M_ab[1] = M4a;
+    M_ab[2] = M3b;
+    M_ab[3] = M2a;
+    M_ab[4] = M1a;
+    M_ab[5] = M1b;
+    M_ab[6] = M2b;
+    M_ab[7] = M4b;
+    
+    //operation: shift register to make output as desire direction
+    for (int i = 0; i < 8; i++)
+    {
+        if (M_ab[i] == 1)
+        {
+            _SERIALDATA.write(1);
+        }
+        else 
+        {
+            _SERIALDATA.write(0);
+        }
+        _CLOCK.write(1);
+        _CLOCK.write(0);
+    }
+    //send and run result
+    _LATCH.write(1);
+    _LATCH.write(0);    
+}
+
+//define speed of 4 motors in percentage in main.cpp
+void Motor::setSpeed(float percentage_M1, float percentage_M2, float percentage_M3, float percentage_M4)
+{
+    float speedM1 = percentage_M1/100;
+    float speedM2 = percentage_M2/100;
+    float speedM3 = percentage_M3/100;
+    float speedM4 = percentage_M4/100;
+    _pwm3 = speedM3;
+    _pwm4 = speedM4;
+    _pwm1 = speedM1;
+    _pwm2 = speedM2;
+}
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