Revision 0:90137e94bed0, committed 2017-09-21

Comitter:

vtqNhi

Date:

Thu Sep 21 15:57:56 2017 +0000

Commit message:

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.

Changed in this revision

--- /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;
+}
\ No newline at end of file

--- /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
\ No newline at end of file