MotorDriver.h

Go to the documentation of this file.

/*
  MotorDriver.h
  2014 Copyright (c) Seeed Technology Inc.  All right reserved.

  Author:lawliet.zou@gmail.com
  2014-02-11

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/
#ifndef __MOTORDRIVER_H__
#define __MOTORDRIVER_H__

#include "mbed.h"
#include "SoftwarePWM.h"

/**************Motor ID**********************/
#define MOTORA                  0
#define MOTORB                  1

#define LOW                     0
#define HIGH                    1

#define MOTOR_POSITION_LEFT     0
#define MOTOR_POSITION_RIGHT    1
#define MOTOR_CLOCKWISE         0
#define MOTOR_ANTICLOCKWISE     1

#define USE_DC_MOTOR            0

#define MOTOR_PERIOD            10000 //10ms

struct MotorStruct
{
  uint8_t speed;
  uint8_t direction;
  uint8_t position;
};

class MotorDriver
{

public:

  MotorDriver(PinName int1, PinName int2, PinName int3, PinName int4, PinName speedA, PinName speedB): _int1(int1), _int2(int2), _int3(int3), _int4(int4), _speedA(speedA), _speedB(speedB)
  {
    _int1 = 0;
    _int2 = 0;
    _int3 = 0;
    _int4 = 0;
  };

  void init();

  void configure(uint8_t position, uint8_t motorID);

  void setSpeed(uint8_t speed, uint8_t motorID);

  void setDirection(uint8_t direction, uint8_t motorID);

  void rotate(uint8_t direction, uint8_t motor_position);

  void rotateWithID(uint8_t direction, uint8_t motorID);

  void goForward();

  void goBackward();

  void goLeft();

  void goRight();

  void stop();

  void stop(uint8_t motorID);

  MotorStruct motorA;

  MotorStruct motorB;

private:

  DigitalOut  _int1;
  DigitalOut  _int2;
  DigitalOut  _int3;
  DigitalOut  _int4;
  SoftwarePWM _speedA;
  SoftwarePWM _speedB;
};
#endif