MotorDriver.h

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/*
  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