ODE_FUCKFISH / ArduMotoShield

L298 Shild Drive Motor 4A

Fork of ArduMotoShield by Didier Donsez

ArduMotoShield.cpp@1:b4604cdd9597, 2015-12-04 (annotated)

Committer:
NorNick
Date:
Fri Dec 04 19:23:37 2015 +0000
Revision:
1:b4604cdd9597
Parent:
0:72e45c332025 
Chang DigitalOut -> BusOut

Who changed what in which revision?

UserRevisionLine numberNew contents of line
donsez 0:72e45c332025 1 /*
donsez 0:72e45c332025 2 Simple library for the SparkFun Ardumoto Shield https://www.sparkfun.com/products/9815
donsez 0:72e45c332025 3 with the ST Nucleo F401RE
donsez 0:72e45c332025 4
donsez 0:72e45c332025 5 The SparkFun Ardumoto shield can control two DC motors (up to 2 amps per motor). It is based on the L298 H-bridge.
donsez 0:72e45c332025 6
donsez 0:72e45c332025 7 Developped by : Didier Donsez & Jérome Maisonnasse
donsez 0:72e45c332025 8
donsez 0:72e45c332025 9 License: CC-SA 3.0, feel free to use this code however you'd like.
donsez 0:72e45c332025 10 Please improve upon it! Let me know how you've made it better.
donsez 0:72e45c332025 11
donsez 0:72e45c332025 12 This is really simple example code to get you some basic functionality with the Ardumoto Shield.
donsez 0:72e45c332025 13
donsez 0:72e45c332025 14 */
donsez 0:72e45c332025 15
donsez 0:72e45c332025 16 #include "ArduMotoShield.h"
donsez 0:72e45c332025 17 #include "mbed.h"
donsez 0:72e45c332025 18
donsez 0:72e45c332025 19 // depend of the Vin and the max voltage of the motors
donsez 0:72e45c332025 20 float MAXPWM = 0.5f;
donsez 0:72e45c332025 21
donsez 0:72e45c332025 22
NorNick 1:b4604cdd9597 23 BusOut inApin(D11,D12); //direction control for motor outputs 1 and 2 is on digital pin 12
NorNick 1:b4604cdd9597 24 BusOut inBpin(D13,D14); //direction control for motor outputs 3 and 4 is on digital pin 13
donsez 0:72e45c332025 25 PwmOut pwmApin(D3); //PWM control for motor outputs 1 and 2 is on digital pin 3
donsez 0:72e45c332025 26 PwmOut pwmBpin(D11); //PWM control for motor outputs 3 and 4 is on digital pin 11
donsez 0:72e45c332025 27
donsez 0:72e45c332025 28 bool isSetup=false;
donsez 0:72e45c332025 29
donsez 0:72e45c332025 30 void ArduMotoShield::setVoltages(float vin, float vmaxmotor)
donsez 0:72e45c332025 31 {
donsez 0:72e45c332025 32
donsez 0:72e45c332025 33 if(vin<vmaxmotor)
donsez 0:72e45c332025 34 MAXPWM=1.0f;
donsez 0:72e45c332025 35 else
donsez 0:72e45c332025 36 MAXPWM=vmaxmotor/vin;
donsez 0:72e45c332025 37 }
donsez 0:72e45c332025 38
donsez 0:72e45c332025 39
donsez 0:72e45c332025 40 void ArduMotoShield::setup()
donsez 0:72e45c332025 41 {
donsez 0:72e45c332025 42 pwmApin.period_ms(10);
donsez 0:72e45c332025 43 pwmApin.pulsewidth_ms(1);
donsez 0:72e45c332025 44 pwmApin.write(0.0f);
donsez 0:72e45c332025 45
donsez 0:72e45c332025 46 pwmBpin.period_ms(10);
donsez 0:72e45c332025 47 pwmBpin.pulsewidth_ms(1);
donsez 0:72e45c332025 48 pwmBpin.write(0.0f);
donsez 0:72e45c332025 49
donsez 0:72e45c332025 50 isSetup=true;
donsez 0:72e45c332025 51 }
donsez 0:72e45c332025 52
donsez 0:72e45c332025 53 // Basic ArduMotoShield operations
donsez 0:72e45c332025 54
donsez 0:72e45c332025 55 void ArduMotoShield::forward() //full speed forward
donsez 0:72e45c332025 56 {
donsez 0:72e45c332025 57 if(!isSetup) setup();
donsez 0:72e45c332025 58
NorNick 1:b4604cdd9597 59 inApin=1;
NorNick 1:b4604cdd9597 60 inBpin=1;
donsez 0:72e45c332025 61 pwmApin.write(MAXPWM);
donsez 0:72e45c332025 62 pwmBpin.write(MAXPWM);
donsez 0:72e45c332025 63 printf("Forward\n");
donsez 0:72e45c332025 64 }
donsez 0:72e45c332025 65
donsez 0:72e45c332025 66 void ArduMotoShield::backward() //full speed backward
donsez 0:72e45c332025 67 {
donsez 0:72e45c332025 68 if(!isSetup) setup();
donsez 0:72e45c332025 69
NorNick 1:b4604cdd9597 70 inApin=2;
NorNick 1:b4604cdd9597 71 inBpin=2;
donsez 0:72e45c332025 72 pwmApin.write(MAXPWM);
donsez 0:72e45c332025 73 pwmBpin.write(MAXPWM);
donsez 0:72e45c332025 74 printf("Backward\n");
donsez 0:72e45c332025 75 }
donsez 0:72e45c332025 76
donsez 0:72e45c332025 77 void ArduMotoShield::stop()
donsez 0:72e45c332025 78 {
donsez 0:72e45c332025 79 if(!isSetup) setup();
donsez 0:72e45c332025 80
NorNick 1:b4604cdd9597 81 inApin=0;
NorNick 1:b4604cdd9597 82 inBpin=0;
donsez 0:72e45c332025 83 pwmApin.write(0.0f);
donsez 0:72e45c332025 84 pwmBpin.write(0.0f);
donsez 0:72e45c332025 85 printf("Stop\n");
donsez 0:72e45c332025 86 }
donsez 0:72e45c332025 87
donsez 0:72e45c332025 88 void ArduMotoShield::right()
donsez 0:72e45c332025 89 {
donsez 0:72e45c332025 90 if(!isSetup) setup();
donsez 0:72e45c332025 91
NorNick 1:b4604cdd9597 92 inApin=2;
NorNick 1:b4604cdd9597 93 inBpin=1;
donsez 0:72e45c332025 94 pwmApin.write(MAXPWM);
donsez 0:72e45c332025 95 pwmBpin.write(MAXPWM);
donsez 0:72e45c332025 96 printf("Right\n");
donsez 0:72e45c332025 97 }
donsez 0:72e45c332025 98
donsez 0:72e45c332025 99 void ArduMotoShield::left()
donsez 0:72e45c332025 100 {
donsez 0:72e45c332025 101 if(!isSetup) setup();
donsez 0:72e45c332025 102
NorNick 1:b4604cdd9597 103 inApin=1;
NorNick 1:b4604cdd9597 104 inBpin=2;
donsez 0:72e45c332025 105 pwmApin.write(MAXPWM);
donsez 0:72e45c332025 106 pwmBpin.write(MAXPWM);
donsez 0:72e45c332025 107 printf("Left\n");
donsez 0:72e45c332025 108 }