Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

MotorDriver.cpp@4:e759b8c756da, 2015-01-23 (annotated)

Committer:
pvaibhav
Date:
Fri Jan 23 13:00:46 2015 +0000
Revision:
4:e759b8c756da
Parent:
3:ee90a9ada112
Child:
12:1632d7391453
Added stub drivers for magneto and gyro

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 4:e759b8c756da 4 #define DEBUG "Motor"
pvaibhav 4:e759b8c756da 5 #include "Logger.h"
pvaibhav 0:943820483318 6
pvaibhav 4:e759b8c756da 7 MotorDriver::MotorDriver(I2C &i2c, const uint8_t address) : I2CPeripheral(i2c, address) {
pvaibhav 4:e759b8c756da 8 INFO("Motor driver at addr=%#x ready", address);
pvaibhav 4:e759b8c756da 9 }
pvaibhav 0:943820483318 10
pvaibhav 0:943820483318 11 void MotorDriver::setVoltage(const float voltage) {
pvaibhav 0:943820483318 12 assert(abs(voltage) <= 5.06);
pvaibhav 0:943820483318 13
pvaibhav 3:ee90a9ada112 14 const bool stop = fabs(voltage) < 0.48;
pvaibhav 3:ee90a9ada112 15 const float Vr = 1.285; // internal reference voltage
pvaibhav 0:943820483318 16
pvaibhav 3:ee90a9ada112 17 if (stop) {
pvaibhav 3:ee90a9ada112 18 write_reg(0x00, 0x03); // last 2 bits = 11 = "brake"
pvaibhav 3:ee90a9ada112 19 } else {
pvaibhav 3:ee90a9ada112 20 const uint8_t DAC_val = ceil( (16.0 * fabs(voltage) / Vr) - 1.0 ); // derived from table on DRV8830 datasheet page 10
pvaibhav 3:ee90a9ada112 21 const uint8_t direction = (voltage > 0.0) ? 0x01 : 0x02; // forward or reverse is set through last 2 bits
pvaibhav 3:ee90a9ada112 22 write_reg(0x00, (DAC_val << 2) | direction);
pvaibhav 3:ee90a9ada112 23 }
pvaibhav 0:943820483318 24 }
pvaibhav 0:943820483318 25
pvaibhav 0:943820483318 26 MotorDriver& MotorDriver::operator=(const float voltage) {
pvaibhav 0:943820483318 27 setVoltage(voltage);
pvaibhav 0:943820483318 28 return *this;
pvaibhav 0:943820483318 29 }