Diff: DCMotorControl.h

Revision:

0:90137e94bed0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DCMotorControl.h	Thu Sep 21 15:57:56 2017 +0000
@@ -0,0 +1,58 @@
+/*
+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)
+The code specificly control the 2 pwm pins of 2 L293D ICs and serial, clock, latch, enable pins of 74HC595 (shift register)
+
+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.
+==This code is written by Vo Trieu Quang Nhi on 21-9-17== 
+
+
+//~~example main.cpp~~
+#include "mbed.h"
+#include "DCMotorControl.h"
+
+//The board is FRDM-KL25Z
+//Using the user guide of this board and identify the pin control pwm1 pwm2 pwm3 pwm4 data clock latch enable (of motor shiled)
+//Here it is PTD2, PTA12, PTC8, PTA5, PTA13, PTA4, PTD3, PTC9
+Motor myMotor(PTD2, PTA12, PTC8, PTA5, PTA13, PTA4, PTD3, PTC9);
+
+//The code below is a test to turn motor from terminant B to terminant A
+//begin speed is 10% then 50% and 100% with 3 seconds delay with the previous speed 
+int main(void)
+{
+    myMotor.Direction(0,1,0,1,0,1,0,1);
+    int i = 10;
+    myMotor.setSpeed(i,i,i,i);
+    wait(3);
+    i=50;
+    myMotor.setSpeed(i,i,i,i);
+    wait(3);
+    i=100;
+    myMotor.setSpeed(i,i,i,i);
+}
+//~~end example~~
+*/
+
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+
+#include "mbed.h"
+
+class Motor
+{
+public:
+    Motor(PinName pwm1, PinName pwm2, PinName pwm3, PinName pwm4, PinName data_pin, PinName clock_pin, PinName latch_pin, PinName enable_pin);
+    void Direction(int M1a, int M1b, int M2a, int M2b, int M3a, int M3b, int M4a, int M4b);
+    void setSpeed(float percentage_M1, float percentage_M2, float percentage_M3, float percentage_M4);
+private:
+    PwmOut _pwm1;//pwm1
+    PwmOut _pwm2;//pwm2
+    PwmOut _pwm3;//pwm3
+    PwmOut _pwm4;//pwm4
+    
+    DigitalOut _SERIALDATA;//serial data
+    DigitalOut _CLOCK;//clock
+    DigitalOut _LATCH;//latch
+    DigitalOut _ENABLE;//enable, set low to be in duty
+};
+
+#endif
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