Diff: DRV8833.h

Revision:

1:82463f25fd3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV8833.h	Thu Dec 12 17:30:49 2013 +0000
@@ -0,0 +1,102 @@
+/* 
+ * @file DRV8833.h
+ * @author Oskar Lopez de Gamboa
+ *
+ * @section LICENSE
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * mbed simple DRV8833 H-bridge motor controller
+ * 
+ *
+ * PWM a un puente en H(DRV8833) conectado a los motores.
+ * El comportamiento del driver es el siguiente:
+ *  
+ *          x_PWM1 x_PWM2    Mode
+ *            0      0       Coast/Fast decay
+ *            0      1       Reverse
+ *            1      0       Forward
+ *            1      1       Brake/slow decay
+ *10/12/2013
+*/
+#ifndef MBED_DRV8833
+#define MBED_DRV8833
+
+#include "mbed.h"
+
+#define COAST 1
+#define BRAKE 0
+
+/** Interface to control a standard DC motor 
+ *  with an DRV8833 H-bridge motor controller
+ *  using 2 PwmOuts 
+ */
+class DRV8833 {
+public:
+
+    /** Creates a DRV8833(H-bridge motor controller) control interface    
+     *
+     * @param pwm1 A PwmOut pin, tied to the AIN1 Logic input, controls state of AOUT1 
+     * @param pwm2 A PwmOut pin, tied to the AIN2 Logic input controls state of AOUT2
+     * 
+     */
+    DRV8833(PinName pwm1, PinName pwm2);
+    
+    /** Set the speed of the motor
+     * 
+     * @param speed The speed of the motor as a normalised value between -1.0 and 1.0
+     */
+    void speed(float speed);
+    
+    /** Set the period of the pwm duty cycle.
+     *
+     * Wrapper for PwmOut::period()
+     *
+     * @param seconds - Pwm duty cycle in seconds.
+     */
+    void period(float period);
+    
+    /** Return the speed.
+     * 
+     *  Returns float of the speed.
+     */
+    float getSpeed(void);
+    
+    /** Return the period.
+     * 
+     *  Returns float of the period.
+     */
+    float getPeriod(void);
+    
+    /** Brake the H-bridge coast or brake.
+     * 
+     * Defaults to coast.
+     * @param mode - Braking mode.COAST(default)or BRAKE. 
+     * 
+     */
+    void brake(int mode = COAST);
+
+protected:
+    PwmOut _pwm1;
+    PwmOut _pwm2;
+    float _speed;
+    float _period;
+    
+};
+
+#endif