Psi Swarm Robot / PRRobot

Practical Robotics Modular Robot Library

Dependents:   ModularRobot

motors.h@1:a6728adaf7e7, 2016-11-26 (annotated)

Committer:
jah128
Date:
Sat Nov 26 21:43:52 2016 +0000
Revision:
1:a6728adaf7e7
Parent:
0:8a2dd255c508
Child:
3:8762f6b2ea8d
Added docs, debug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a2dd255c508 1 #ifndef MOTORS_H
jah128 0:8a2dd255c508 2 #define MOTORS_H
jah128 0:8a2dd255c508 3
jah128 1:a6728adaf7e7 4 /**
jah128 1:a6728adaf7e7 5 * The Motors class contains the functions to control the robots motors
jah128 1:a6728adaf7e7 6 */
jah128 0:8a2dd255c508 7 class Motors
jah128 0:8a2dd255c508 8 {
jah128 0:8a2dd255c508 9 public:
jah128 0:8a2dd255c508 10 /**
jah128 0:8a2dd255c508 11 * Setup the PWM based H-Bridge drivers for the motors
jah128 0:8a2dd255c508 12 */
jah128 0:8a2dd255c508 13 void init(void);
jah128 0:8a2dd255c508 14
jah128 0:8a2dd255c508 15
jah128 1:a6728adaf7e7 16 /**
jah128 1:a6728adaf7e7 17 * Put the H-Bridge drivers in sleep (low-power) mode
jah128 1:a6728adaf7e7 18 */
jah128 1:a6728adaf7e7 19 void sleep(void);
jah128 0:8a2dd255c508 20
jah128 1:a6728adaf7e7 21 /**
jah128 1:a6728adaf7e7 22 * Wake the H-Bridge drivers from sleep mode
jah128 1:a6728adaf7e7 23 */
jah128 0:8a2dd255c508 24 void wake_up(void);
jah128 1:a6728adaf7e7 25
jah128 1:a6728adaf7e7 26 /**
jah128 1:a6728adaf7e7 27 * Set the left H-Bridge driver to high-Z (coast mode) for the motor
jah128 1:a6728adaf7e7 28 */
jah128 0:8a2dd255c508 29 void coast_left(void);
jah128 1:a6728adaf7e7 30
jah128 1:a6728adaf7e7 31 /**
jah128 1:a6728adaf7e7 32 * Set the left H-Bridge driver to active brake
jah128 1:a6728adaf7e7 33 */
jah128 0:8a2dd255c508 34 void brake_left(void);
jah128 1:a6728adaf7e7 35
jah128 1:a6728adaf7e7 36 /**
jah128 1:a6728adaf7e7 37 * Set the speed and direction of the left-motor H-Bridge driver
jah128 1:a6728adaf7e7 38 *
jah128 1:a6728adaf7e7 39 * @param speed - A value between -1.0 [max reverse], 0 [coast] and 1.0 [max forward]
jah128 1:a6728adaf7e7 40 */
jah128 0:8a2dd255c508 41 void set_left_motor_speed(float speed);
jah128 1:a6728adaf7e7 42
jah128 1:a6728adaf7e7 43 /**
jah128 1:a6728adaf7e7 44 * Set the right H-Bridge driver to high-Z (coast mode) for the motor
jah128 1:a6728adaf7e7 45 */
jah128 0:8a2dd255c508 46 void coast_right(void);
jah128 1:a6728adaf7e7 47
jah128 1:a6728adaf7e7 48 /**
jah128 1:a6728adaf7e7 49 * Set the right H-Bridge driver to active brake
jah128 1:a6728adaf7e7 50 */
jah128 0:8a2dd255c508 51 void brake_right(void);
jah128 1:a6728adaf7e7 52
jah128 1:a6728adaf7e7 53 /**
jah128 1:a6728adaf7e7 54 * Set both H-Bridge drivers to high-Z (coast mode) for the motor
jah128 1:a6728adaf7e7 55 */
jah128 0:8a2dd255c508 56 void coast(void);
jah128 1:a6728adaf7e7 57
jah128 1:a6728adaf7e7 58 /**
jah128 1:a6728adaf7e7 59 * Set both H-Bridge drivers to active brake
jah128 1:a6728adaf7e7 60 */
jah128 0:8a2dd255c508 61 void brake(void);
jah128 1:a6728adaf7e7 62
jah128 1:a6728adaf7e7 63 /**
jah128 1:a6728adaf7e7 64 * Set the speed and direction of the right-motor H-Bridge driver
jah128 1:a6728adaf7e7 65 *
jah128 1:a6728adaf7e7 66 * @param speed - A value between -1.0 [max reverse], 0 [coast] and 1.0 [max forward]
jah128 1:a6728adaf7e7 67 */
jah128 0:8a2dd255c508 68 void set_right_motor_speed(float speed);
jah128 1:a6728adaf7e7 69
jah128 1:a6728adaf7e7 70 /**
jah128 1:a6728adaf7e7 71 * Get the approximate instantaneous current draw of the left-motor H-Bridge driver
jah128 1:a6728adaf7e7 72 *
jah128 1:a6728adaf7e7 73 * @returns The current value in A
jah128 1:a6728adaf7e7 74 */
jah128 0:8a2dd255c508 75 float get_current_left(void);
jah128 1:a6728adaf7e7 76
jah128 1:a6728adaf7e7 77 /**
jah128 1:a6728adaf7e7 78 * Get the approximate instantaneous current draw of the right-motor H-Bridge driver
jah128 1:a6728adaf7e7 79 *
jah128 1:a6728adaf7e7 80 * @returns The current value in A
jah128 1:a6728adaf7e7 81 */
jah128 0:8a2dd255c508 82 float get_current_right(void);
jah128 1:a6728adaf7e7 83
jah128 1:a6728adaf7e7 84 /**
jah128 1:a6728adaf7e7 85 * Calculates an adjusted speed value to avoid stalls at low-speeds if USE_STALL_OFFSET is set to 1 [in robot.h]
jah128 1:a6728adaf7e7 86 * @params speed_in - The speed value from 0.0 to 1.0
jah128 1:a6728adaf7e7 87 * @returns The adjusted speed value from 0.0 to 1.0, increased by STALL_OFFSET then scaled to fit
jah128 1:a6728adaf7e7 88 */
jah128 0:8a2dd255c508 89 float get_adjusted_speed(float speed_in);
jah128 0:8a2dd255c508 90
jah128 0:8a2dd255c508 91
jah128 0:8a2dd255c508 92 };
jah128 0:8a2dd255c508 93
jah128 0:8a2dd255c508 94 #endif