Joseph Bradshaw
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.
Diff: MotCon.cpp
- Revision:
- 1:69e79f1db999
- Parent:
- 0:3ba12980833b
- Child:
- 2:23cd902e1774
- Child:
- 5:3e07f69d8abd
--- a/MotCon.cpp Mon Aug 31 17:13:55 2015 +0000
+++ b/MotCon.cpp Thu May 19 12:36:45 2016 +0000
@@ -27,3 +27,40 @@
_pwm = 0.0;
}
}
+
+// dc is signed duty cycle (+/-1.0)
+void MotCon::mot_control(float dc, int invert){
+ if(dc>1.0)
+ dc=1.0;
+ if(dc<-1.0)
+ dc=-1.0;
+
+ if(invert==0){
+ if(dc > 0.001){
+ _dir = 0;
+ _pwm = dc;
+ }
+ else if(dc < -0.001){
+ _dir = 1;
+ _pwm = abs(dc);
+ }
+ else{
+ _dir = 0;
+ _pwm = 0.0;
+ }
+ }
+ else{
+ if(dc > 0.001){
+ _dir = 1;
+ _pwm = dc;
+ }
+ else if(dc < -0.001){
+ _dir = 0;
+ _pwm = abs(dc);
+ }
+ else{
+ _dir = 0;
+ _pwm = 0.0;
+ }
+ }
+}