Joseph Bradshaw / MotCon2

Simple DC motor control commands for driving DC motor conroller with PWM and up to 2 direction signals (complementary). Takes float value from -1.0 to 1.0.

Dependents:   Teensy_Mot_QEI_Ser_20180111 Axis Axis_20181108 Axis_version2

Fork of MotCon by Joseph Bradshaw

Overloaded class that takes a pwm motor control pin and one or two direction pins for driving DC motors with a variety of motor control IC's. Tested examples include the LM298, TD340, MC33926, A3949.

MotCon.h@6:709761ee0a14, 2016-11-15 (annotated)

Committer:
jebradshaw
Date:
Tue Nov 15 15:40:19 2016 +0000
Revision:
6:709761ee0a14
Parent:
5:3e07f69d8abd 
Overloaded class for using one or two direction pins on motor driver IC with PWM control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jebradshaw 5:3e07f69d8abd 1 /* mbed MotCon Library, for the various DC motor control IC's using PWM and one
jebradshaw 5:3e07f69d8abd 2 * or two direction pins.
jebradshaw 5:3e07f69d8abd 3 * Copyright (c) 2016, Joseph Bradshaw
jebradshaw 5:3e07f69d8abd 4 *
jebradshaw 5:3e07f69d8abd 5 * Permission is hereby granted, free of charge, to any person obtaining a copy
jebradshaw 5:3e07f69d8abd 6 * of this software and associated documentation files (the "Software"), to deal
jebradshaw 5:3e07f69d8abd 7 * in the Software without restriction, including without limitation the rights
jebradshaw 5:3e07f69d8abd 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
jebradshaw 5:3e07f69d8abd 9 * copies of the Software, and to permit persons to whom the Software is
jebradshaw 5:3e07f69d8abd 10 * furnished to do so, subject to the following conditions:
jebradshaw 5:3e07f69d8abd 11 *
jebradshaw 5:3e07f69d8abd 12 * The above copyright notice and this permission notice shall be included in
jebradshaw 5:3e07f69d8abd 13 * all copies or substantial portions of the Software.
jebradshaw 5:3e07f69d8abd 14 *
jebradshaw 5:3e07f69d8abd 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
jebradshaw 5:3e07f69d8abd 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
jebradshaw 5:3e07f69d8abd 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
jebradshaw 5:3e07f69d8abd 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
jebradshaw 5:3e07f69d8abd 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
jebradshaw 5:3e07f69d8abd 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
jebradshaw 5:3e07f69d8abd 21 * THE SOFTWARE.
jebradshaw 5:3e07f69d8abd 22 */
jebradshaw 0:3ba12980833b 23 #include "mbed.h"
jebradshaw 0:3ba12980833b 24
jebradshaw 0:3ba12980833b 25 #ifndef MBED_MOTCON_H
jebradshaw 0:3ba12980833b 26 #define MBED_MOTCON_H
jebradshaw 0:3ba12980833b 27
jebradshaw 0:3ba12980833b 28 class MotCon{
jebradshaw 0:3ba12980833b 29 public:
jebradshaw 5:3e07f69d8abd 30 /** Create a motor control port object connected to the specified pins
jebradshaw 5:3e07f69d8abd 31 *
jebradshaw 5:3e07f69d8abd 32 * @param pwm_pin PwmOut pin for the enable or speed control
jebradshaw 5:3e07f69d8abd 33 * @param dir1_pin DigitalOut pin to control the motor direction
jebradshaw 5:3e07f69d8abd 34 */
jebradshaw 5:3e07f69d8abd 35 MotCon(PinName pwm_pin, PinName dir1_pin);
jebradshaw 5:3e07f69d8abd 36
jebradshaw 5:3e07f69d8abd 37 /** Create a motor control port object connected to the specified pins.
jebradshaw 5:3e07f69d8abd 38 * The two direction pins are typically complementary and provide
jebradshaw 5:3e07f69d8abd 39 * the capability of dynamic braking, free-wheeling, forward and reverse.
jebradshaw 5:3e07f69d8abd 40 *
jebradshaw 5:3e07f69d8abd 41 * @param pwm_pin PwmOut pin for the enable or speed control
jebradshaw 5:3e07f69d8abd 42 * @param dir1_pin DigitalOut pin to control the motor direction
jebradshaw 5:3e07f69d8abd 43 * @param dir2_pin DigitalOut pin to control the motor direction
jebradshaw 5:3e07f69d8abd 44 */
jebradshaw 5:3e07f69d8abd 45 MotCon(PinName pwm_pin, PinName dir1_pin, PinName dir2_pin);
jebradshaw 5:3e07f69d8abd 46
jebradshaw 5:3e07f69d8abd 47 /** This function will set the direction and pwm percent scaled
jebradshaw 5:3e07f69d8abd 48 * from 0.0 - 1.0 and control the direction pin or pins
jebradshaw 5:3e07f69d8abd 49 * If two direction pins are used, the user can control the breaking
jebradshaw 5:3e07f69d8abd 50 * mode by using the mutator functions for get_mode() and set_mode()
jebradshaw 5:3e07f69d8abd 51 * If only one direction pin is used, dynamic breaking and syncronous
jebradshaw 5:3e07f69d8abd 52 * rectification are assumed. See the specific motor driver part datasheet
jebradshaw 5:3e07f69d8abd 53 * for additional details.
jebradshaw 5:3e07f69d8abd 54 *
jebradshaw 5:3e07f69d8abd 55 * @param dc is signed float duty cycle (+/-1.0)
jebradshaw 5:3e07f69d8abd 56 */
jebradshaw 5:3e07f69d8abd 57 void mot_control(float dc);
jebradshaw 5:3e07f69d8abd 58 void mot_control(float dc, int invert);
jebradshaw 5:3e07f69d8abd 59
jebradshaw 6:709761ee0a14 60 void setMode(bool mode);
jebradshaw 5:3e07f69d8abd 61 bool getMode(void);
jebradshaw 5:3e07f69d8abd 62 bool mc_mode;
jebradshaw 0:3ba12980833b 63 private:
jebradshaw 5:3e07f69d8abd 64 bool _dir2;
jebradshaw 5:3e07f69d8abd 65
jebradshaw 5:3e07f69d8abd 66 protected:
jebradshaw 5:3e07f69d8abd 67 PwmOut _pwm_pin;
jebradshaw 5:3e07f69d8abd 68 DigitalOut _dir1_pin;
jebradshaw 5:3e07f69d8abd 69 DigitalOut _dir2_pin;
jebradshaw 0:3ba12980833b 70 };
jebradshaw 0:3ba12980833b 71
jebradshaw 0:3ba12980833b 72 #endif