Mbed library to control a motor via DRV8833 H-bridge motor controller. Uses two Pwmouts.
DRV8833.h
- Committer:
- xeta05
- Date:
- 2013-12-10
- Revision:
- 3:0aa2cdeb2e2b
- Parent:
- 2:ccc9acaebd38
File content as of revision 3:0aa2cdeb2e2b:
/* * @file DRV8833.h * @author Oskar Lopez de Gamboa * * @section LICENSE * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without restriction, * including without limitation the rights to use, copy, modify, merge, publish, distribute, * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * * @section DESCRIPTION * * mbed simple DRV8833 H-bridge motor controller * * * PWM a un puente en H(DRV8833) conectado a los motores. * El comportamiento del driver es el siguiente: * * x_PWM1 x_PWM2 Mode * 0 0 Coast/Fast decay * 0 1 Reverse * 1 0 Forward * 1 1 Brake/slow decay *10/12/2013 */ #ifndef MBED_DRV8833 #define MBED_DRV8833 #include "mbed.h" #define COAST 1 #define BRAKE 0 /** Interface to control a standard DC motor * with an DRV8833 H-bridge motor controller * using 2 PwmOuts */ class DRV8833 { public: /** Creates a DRV8833(H-bridge motor controller) control interface * * @param pwm1 A PwmOut pin, tied to the AIN1 Logic input, controls state of AOUT1 * @param pwm2 A PwmOut pin, tied to the AIN2 Logic input controls state of AOUT2 * */ DRV8833(PinName pwm1, PinName pwm2); /** Set the speed of the motor * * @param speed The speed of the motor as a normalised value between -1.0 and 1.0 */ void speed(float speed); /** Set the period of the pwm duty cycle. * * Wrapper for PwmOut::period() * * @param seconds - Pwm duty cycle in seconds. */ void period(float period); /** Brake the H-bridge coast or brake. * * Defaults to coast. * @param mode - Braking mode.COAST(default)or BRAKE. * */ void brake(int mode = COAST); protected: PwmOut _pwm1; PwmOut _pwm2; }; #endif