Jose Eduardo Laruta Espejo / motoresDC

Library for controll DC motors using dual H-bridges like l298n, l293d and others. Based on Sparkfun RedBot arduino library.

Dependents:   maple_motores maple_heading_pid maple_chotobot_rf_motores motores ... more

motoresDC.cpp@5:998fbdeb1ea4, 2016-06-13 (annotated)

Committer:
tabris2015
Date:
Mon Jun 13 23:16:02 2016 +0000
Revision:
5:998fbdeb1ea4
Parent:
2:b5d41b0442a7 
doc changed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tabris2015 0:b1e9ffb92a0a 1 #include "motoresDC.h"
tabris2015 0:b1e9ffb92a0a 2
tabris2015 0:b1e9ffb92a0a 3 MotoresDC::MotoresDC(PinName MI_velPin,
tabris2015 0:b1e9ffb92a0a 4 PinName MI_s1Pin,
tabris2015 0:b1e9ffb92a0a 5 PinName MI_s2Pin,
tabris2015 0:b1e9ffb92a0a 6 PinName MD_velPin,
tabris2015 0:b1e9ffb92a0a 7 PinName MD_s1Pin,
tabris2015 0:b1e9ffb92a0a 8 PinName MD_s2Pin):_MI_vel(MI_velPin), _MI_s1(MI_s1Pin), _MI_s2(MI_s2Pin), _MD_vel(MD_velPin), _MD_s1(MD_s1Pin), _MD_s2(MD_s2Pin)
tabris2015 0:b1e9ffb92a0a 9 {
tabris2015 2:b5d41b0442a7 10 _R = 3.25;
tabris2015 2:b5d41b0442a7 11 _L = 9.0;
tabris2015 0:b1e9ffb92a0a 12 _MI_vel.period_ms(1);
tabris2015 0:b1e9ffb92a0a 13 _MI_vel.write(0);
tabris2015 0:b1e9ffb92a0a 14 _MD_vel.period_ms(1);
tabris2015 0:b1e9ffb92a0a 15 _MD_vel.write(0);
tabris2015 0:b1e9ffb92a0a 16 }
tabris2015 2:b5d41b0442a7 17
tabris2015 2:b5d41b0442a7 18 void MotoresDC::setParams(float R, float L)
tabris2015 2:b5d41b0442a7 19 {
tabris2015 2:b5d41b0442a7 20 this->_R = R;
tabris2015 2:b5d41b0442a7 21 this->_L = L;
tabris2015 2:b5d41b0442a7 22 }
tabris2015 2:b5d41b0442a7 23
tabris2015 2:b5d41b0442a7 24 void MotoresDC::conducirUniciclo(float v, float w)
tabris2015 2:b5d41b0442a7 25 {
tabris2015 2:b5d41b0442a7 26 float v_r = (2 * v + this->_L * w)/(2 * this->_R);
tabris2015 2:b5d41b0442a7 27 float v_l = (2 * v - this->_L * w)/(2 * this->_R);
tabris2015 2:b5d41b0442a7 28
tabris2015 2:b5d41b0442a7 29 this->motorIzq(v_l);
tabris2015 2:b5d41b0442a7 30 this->motorDer(v_r);
tabris2015 2:b5d41b0442a7 31 }
tabris2015 0:b1e9ffb92a0a 32 /* funciones base para conducir */
tabris2015 0:b1e9ffb92a0a 33 void MotoresDC::_izqAdelante(float velocidad)
tabris2015 0:b1e9ffb92a0a 34 {
tabris2015 0:b1e9ffb92a0a 35 _MI_s1 = 1;
tabris2015 0:b1e9ffb92a0a 36 _MI_s2 = 0;
tabris2015 0:b1e9ffb92a0a 37 _MI_vel = abs(velocidad);
tabris2015 0:b1e9ffb92a0a 38 }
tabris2015 0:b1e9ffb92a0a 39
tabris2015 0:b1e9ffb92a0a 40 void MotoresDC::_izqAtras(float velocidad)
tabris2015 0:b1e9ffb92a0a 41 {
tabris2015 0:b1e9ffb92a0a 42 _MI_s1 = 0;
tabris2015 0:b1e9ffb92a0a 43 _MI_s2 = 1;
tabris2015 0:b1e9ffb92a0a 44 _MI_vel = abs(velocidad);
tabris2015 0:b1e9ffb92a0a 45 }
tabris2015 0:b1e9ffb92a0a 46
tabris2015 0:b1e9ffb92a0a 47 void MotoresDC::_derAdelante(float velocidad)
tabris2015 0:b1e9ffb92a0a 48 {
tabris2015 0:b1e9ffb92a0a 49 _MD_s1 = 1;
tabris2015 0:b1e9ffb92a0a 50 _MD_s2 = 0;
tabris2015 0:b1e9ffb92a0a 51 _MD_vel = abs(velocidad);
tabris2015 0:b1e9ffb92a0a 52 }
tabris2015 0:b1e9ffb92a0a 53
tabris2015 0:b1e9ffb92a0a 54 void MotoresDC::_derAtras(float velocidad)
tabris2015 0:b1e9ffb92a0a 55 {
tabris2015 0:b1e9ffb92a0a 56 _MD_s1 = 0;
tabris2015 0:b1e9ffb92a0a 57 _MD_s2 = 1;
tabris2015 0:b1e9ffb92a0a 58 _MD_vel = abs(velocidad);
tabris2015 0:b1e9ffb92a0a 59 }
tabris2015 0:b1e9ffb92a0a 60
tabris2015 0:b1e9ffb92a0a 61 /* funciones compuestas */
tabris2015 0:b1e9ffb92a0a 62 /* funciones para detener los motores */
tabris2015 0:b1e9ffb92a0a 63 void MotoresDC::detenerIzq(void)
tabris2015 0:b1e9ffb92a0a 64 {
tabris2015 0:b1e9ffb92a0a 65 _MI_s1 = 0;
tabris2015 0:b1e9ffb92a0a 66 _MI_s2 = 0;
tabris2015 0:b1e9ffb92a0a 67 _MI_vel = 0;
tabris2015 0:b1e9ffb92a0a 68 }
tabris2015 0:b1e9ffb92a0a 69
tabris2015 0:b1e9ffb92a0a 70 void MotoresDC::detenerDer(void)
tabris2015 0:b1e9ffb92a0a 71 {
tabris2015 0:b1e9ffb92a0a 72 _MD_s1 = 0;
tabris2015 0:b1e9ffb92a0a 73 _MD_s2 = 0;
tabris2015 0:b1e9ffb92a0a 74 _MD_vel = 0;
tabris2015 0:b1e9ffb92a0a 75 }
tabris2015 0:b1e9ffb92a0a 76 void MotoresDC::frenarIzq(void)
tabris2015 0:b1e9ffb92a0a 77 {
tabris2015 0:b1e9ffb92a0a 78 _MI_s1 = 1;
tabris2015 0:b1e9ffb92a0a 79 _MI_s2 = 1;
tabris2015 0:b1e9ffb92a0a 80 _MI_vel = 0;
tabris2015 0:b1e9ffb92a0a 81 }
tabris2015 0:b1e9ffb92a0a 82 void MotoresDC::frenarDer(void)
tabris2015 0:b1e9ffb92a0a 83 {
tabris2015 0:b1e9ffb92a0a 84 _MD_s1 = 1;
tabris2015 0:b1e9ffb92a0a 85 _MD_s2 = 1;
tabris2015 0:b1e9ffb92a0a 86 _MD_vel = 0;
tabris2015 0:b1e9ffb92a0a 87 }
tabris2015 0:b1e9ffb92a0a 88 void MotoresDC::detener(void)
tabris2015 0:b1e9ffb92a0a 89 {
tabris2015 0:b1e9ffb92a0a 90 detenerIzq();
tabris2015 0:b1e9ffb92a0a 91 detenerDer();
tabris2015 0:b1e9ffb92a0a 92 }
tabris2015 0:b1e9ffb92a0a 93 void MotoresDC::frenar(void)
tabris2015 0:b1e9ffb92a0a 94 {
tabris2015 0:b1e9ffb92a0a 95 frenarIzq();
tabris2015 0:b1e9ffb92a0a 96 frenarDer();
tabris2015 0:b1e9ffb92a0a 97 }
tabris2015 0:b1e9ffb92a0a 98
tabris2015 0:b1e9ffb92a0a 99 /* --------------- */
tabris2015 0:b1e9ffb92a0a 100
tabris2015 0:b1e9ffb92a0a 101 /* funcion para conducir ambos motores en la misma direccion */
tabris2015 0:b1e9ffb92a0a 102 void MotoresDC::conducir(float velocidad)
tabris2015 0:b1e9ffb92a0a 103 {
tabris2015 0:b1e9ffb92a0a 104 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 105 {
tabris2015 0:b1e9ffb92a0a 106 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 107 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 108 }
tabris2015 0:b1e9ffb92a0a 109 else
tabris2015 0:b1e9ffb92a0a 110 {
tabris2015 0:b1e9ffb92a0a 111 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 112 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 113 }
tabris2015 0:b1e9ffb92a0a 114 }
tabris2015 0:b1e9ffb92a0a 115 void MotoresDC::conducir(float velocidad, int duracion)
tabris2015 0:b1e9ffb92a0a 116 {
tabris2015 0:b1e9ffb92a0a 117 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 118 {
tabris2015 0:b1e9ffb92a0a 119 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 120 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 121 }
tabris2015 0:b1e9ffb92a0a 122 else
tabris2015 0:b1e9ffb92a0a 123 {
tabris2015 0:b1e9ffb92a0a 124 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 125 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 126 }
tabris2015 0:b1e9ffb92a0a 127 wait_ms(duracion);
tabris2015 0:b1e9ffb92a0a 128 detenerIzq();
tabris2015 0:b1e9ffb92a0a 129 detenerDer();
tabris2015 0:b1e9ffb92a0a 130 }
tabris2015 0:b1e9ffb92a0a 131 /* funcion para conducir motores en sentido contrario */
tabris2015 0:b1e9ffb92a0a 132 void MotoresDC::pivotar(float velocidad)
tabris2015 0:b1e9ffb92a0a 133 {
tabris2015 0:b1e9ffb92a0a 134 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 135 {
tabris2015 0:b1e9ffb92a0a 136 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 137 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 138 }
tabris2015 0:b1e9ffb92a0a 139 else
tabris2015 0:b1e9ffb92a0a 140 {
tabris2015 0:b1e9ffb92a0a 141 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 142 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 143 }
tabris2015 0:b1e9ffb92a0a 144 }
tabris2015 0:b1e9ffb92a0a 145 void MotoresDC::pivotar(float velocidad, int duracion)
tabris2015 0:b1e9ffb92a0a 146 {
tabris2015 0:b1e9ffb92a0a 147 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 148 {
tabris2015 0:b1e9ffb92a0a 149 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 150 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 151 }
tabris2015 0:b1e9ffb92a0a 152 else
tabris2015 0:b1e9ffb92a0a 153 {
tabris2015 0:b1e9ffb92a0a 154 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 155 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 156 }
tabris2015 0:b1e9ffb92a0a 157 wait_ms(duracion);
tabris2015 0:b1e9ffb92a0a 158 detenerIzq();
tabris2015 0:b1e9ffb92a0a 159 detenerDer();
tabris2015 0:b1e9ffb92a0a 160 }
tabris2015 0:b1e9ffb92a0a 161
tabris2015 0:b1e9ffb92a0a 162 /* funciones para conducir motores independientemente */
tabris2015 0:b1e9ffb92a0a 163 void MotoresDC::motorIzq(float velocidad)
tabris2015 0:b1e9ffb92a0a 164 {
tabris2015 0:b1e9ffb92a0a 165 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 166 {
tabris2015 0:b1e9ffb92a0a 167 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 168 }
tabris2015 0:b1e9ffb92a0a 169 else
tabris2015 0:b1e9ffb92a0a 170 {
tabris2015 0:b1e9ffb92a0a 171 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 172 }
tabris2015 0:b1e9ffb92a0a 173 }
tabris2015 0:b1e9ffb92a0a 174
tabris2015 0:b1e9ffb92a0a 175 void MotoresDC::motorDer(float velocidad)
tabris2015 0:b1e9ffb92a0a 176 {
tabris2015 0:b1e9ffb92a0a 177 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 178 {
tabris2015 0:b1e9ffb92a0a 179 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 180 }
tabris2015 0:b1e9ffb92a0a 181 else
tabris2015 0:b1e9ffb92a0a 182 {
tabris2015 0:b1e9ffb92a0a 183 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 184 }
tabris2015 0:b1e9ffb92a0a 185 }
tabris2015 0:b1e9ffb92a0a 186 /* funciones para conducir motores independientemente con duracion */
tabris2015 0:b1e9ffb92a0a 187 void MotoresDC::motorIzq(float velocidad, int duracion)
tabris2015 0:b1e9ffb92a0a 188 {
tabris2015 0:b1e9ffb92a0a 189 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 190 {
tabris2015 0:b1e9ffb92a0a 191 _izqAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 192 }
tabris2015 0:b1e9ffb92a0a 193 else
tabris2015 0:b1e9ffb92a0a 194 {
tabris2015 0:b1e9ffb92a0a 195 _izqAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 196 }
tabris2015 0:b1e9ffb92a0a 197 wait_ms(duracion);
tabris2015 0:b1e9ffb92a0a 198 detenerIzq();
tabris2015 0:b1e9ffb92a0a 199 }
tabris2015 0:b1e9ffb92a0a 200 void MotoresDC::motorDer(float velocidad, int duracion)
tabris2015 0:b1e9ffb92a0a 201 {
tabris2015 0:b1e9ffb92a0a 202 if(velocidad > 0)
tabris2015 0:b1e9ffb92a0a 203 {
tabris2015 0:b1e9ffb92a0a 204 _derAdelante(velocidad);
tabris2015 0:b1e9ffb92a0a 205 }
tabris2015 0:b1e9ffb92a0a 206 else
tabris2015 0:b1e9ffb92a0a 207 {
tabris2015 0:b1e9ffb92a0a 208 _derAtras(velocidad);
tabris2015 0:b1e9ffb92a0a 209 }
tabris2015 0:b1e9ffb92a0a 210 wait_ms(duracion);
tabris2015 0:b1e9ffb92a0a 211 detenerDer();
tabris2015 0:b1e9ffb92a0a 212 }
tabris2015 0:b1e9ffb92a0a 213
tabris2015 0:b1e9ffb92a0a 214
tabris2015 0:b1e9ffb92a0a 215
tabris2015 0:b1e9ffb92a0a 216