To control motors of Arduino motor shield L293D v1
DCMotorControl.h
- Committer:
- vtqNhi
- Date:
- 2017-09-21
- Revision:
- 0:90137e94bed0
File content as of revision 0:90137e94bed0:
/* 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