Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

MotorDriver.cpp@0:943820483318, 2015-01-13 (annotated)

Committer:
pvaibhav
Date:
Tue Jan 13 11:23:01 2015 +0000
Revision:
0:943820483318
Child:
3:ee90a9ada112
Initial commit with working LED and motor drivers.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvaibhav 0:943820483318 1 #include "MotorDriver.h"
pvaibhav 0:943820483318 2 #include <cassert>
pvaibhav 0:943820483318 3 #include <cmath>
pvaibhav 0:943820483318 4
pvaibhav 0:943820483318 5 MotorDriver::MotorDriver(I2C &i2c, const uint8_t address) : I2CPeripheral(i2c, address) {}
pvaibhav 0:943820483318 6
pvaibhav 0:943820483318 7 void MotorDriver::setVoltage(const float voltage) {
pvaibhav 0:943820483318 8 assert(abs(voltage) >= 0.48);
pvaibhav 0:943820483318 9 assert(abs(voltage) <= 5.06);
pvaibhav 0:943820483318 10
pvaibhav 0:943820483318 11 const uint8_t DAC_val = floor(abs(voltage) / 0.0804) + 1; // derived from table on DRV8830 datasheet page 10
pvaibhav 0:943820483318 12 const uint8_t direction = (voltage >= 0.0) ? 0x01 : 0x02; // forward or reverse is set through last 2 bits
pvaibhav 0:943820483318 13
pvaibhav 0:943820483318 14 write_reg(0x00, (DAC_val << 2) | direction);
pvaibhav 0:943820483318 15 }
pvaibhav 0:943820483318 16
pvaibhav 0:943820483318 17 MotorDriver& MotorDriver::operator=(const float voltage) {
pvaibhav 0:943820483318 18 setVoltage(voltage);
pvaibhav 0:943820483318 19 return *this;
pvaibhav 0:943820483318 20 }