motor Class Reference

Class that functions for interacting with a Motor Driver Carrier. More...

#include <motor.h>

Public Member Functions
	motor (uint8_t pwm_pin1, uint8_t pwm_pin2, uint8_t fb_pin, uint8_t en_pin, uint8_t sf_pin, uint16_t maxSpeed, uint16_t minSpeed)
void	init_pin ()
	Initialize pins of DC motor driver.
void	init_timer (uint8_t timer, uint16_t divisor)
	Set timer frequency, for timers 0, 1, 2.
void	enable ()
	Enable motor driver.
void	disenable ()
	Disable motor driver.
uint16_t	get_load ()
	Calculate the load of DC motor.
uint8_t	get_fault ()
	Get the status flag of motor driver.
void	move (int16_t speed)
	Move the DC motor with constant voltage (~speed)
void	stop ()
	Stop moving the DC motor.
void	set_min (uint16_t min)
	Update the minimum speed of DC motor.
void	set_max (uint16_t max)
	Update the maximum speed of DC motor.

Private Attributes
uint8_t	_pwm_pin1
uint8_t	_pwm_pin2
uint8_t	_fb_pin
uint8_t	_en_pin
uint8_t	_sf_pin
int16_t	_maxSpeed
int16_t	_minSpeed

Detailed Description

Class that functions for interacting with a Motor Driver Carrier.

Parameters

pwm_pin1	PWM pin, regulate the duty cycle
pwm_pin2	PWM pin, regulate the duty cycle
fb_pin	Analog pin that measure the analog current-sense feedback
en_pin	Digital pin that enable and disable the motor driver
sf_pin	Digital pin that read if the motor driver works properly or not
maxSpeed	Set the maximum PWM value that the DC motor can handle, e.g. max 255 (8 bit timer)
minSpeed	Set the minimum PWM value that the DC motor can handle, e.g. min 5 (8-bit timer)

Definition at line 37 of file motor.h.

Constructor & Destructor Documentation

motor()

motor::motor ( uint8_t pwm_pin1, uint8_t pwm_pin2, uint8_t fb_pin, uint8_t en_pin, uint8_t sf_pin, uint16_t maxSpeed, uint16_t minSpeed )

inline

Definition at line 40 of file motor.h.

References _en_pin, _fb_pin, _maxSpeed, _minSpeed, _pwm_pin1, _pwm_pin2, _sf_pin, and stop().

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Member Function Documentation

disenable()

void motor::disenable ( )

inline

Disable motor driver.

Definition at line 157 of file motor.h.

References _en_pin.

Referenced by loop().

enable()

void motor::enable ( )

inline

Enable motor driver.

Definition at line 148 of file motor.h.

References _en_pin.

Referenced by setup().

get_fault()

uint8_t motor::get_fault ( )

inline

Get the status flag of motor driver.

Returns

HIGH the motor driver is working properly LOW an over-current (short circuit) or over-temperature event

Definition at line 178 of file motor.h.

References _sf_pin.

Referenced by loop().

get_load()

uint16_t motor::get_load ( )

inline

Calculate the load of DC motor.

Returns

Return an analog read value 0-1023

Definition at line 167 of file motor.h.

References _fb_pin.

init_pin()

void motor::init_pin ( )

inline

Initialize pins of DC motor driver.

Definition at line 57 of file motor.h.

References _en_pin, _fb_pin, _pwm_pin1, _pwm_pin2, and _sf_pin.

Referenced by setup().

init_timer()

void motor::init_timer ( uint8_t timer, uint16_t divisor )

inline

Set timer frequency, for timers 0, 1, 2.

Parameters

timer

PWM frequency for D5 & D6, set timer 0 PWM frequency for D9 & D10, set timer 1 PWM frequency for D3 & D11, set timer 2

divisor

For timer 0 divisor to 1 for PWM frequency of 62500.00 Hz divisor to 8 for PWM frequency of 7812.50 Hz divisor to 64 for PWM frequency of 976.56 Hz (The DEFAULT) divisor to 256 for PWM frequency of 244.14 Hz divisor to 1024 for PWM frequency of 61.04 Hz For timer 1 divisor to 1 for PWM frequency of 31372.55 Hz divisor to 8 for PWM frequency of 3921.16 Hz divisor to 64 for PWM frequency of 490.20 Hz (The DEFAULT) divisor to 256 for PWM frequency of 122.55 Hz divisor to 1024 for PWM frequency of 30.64 Hz For timer 2 divisor to 1 for PWM frequency of 31372.55 Hz divisor to 8 for PWM frequency of 3921.16 Hz divisor to 32 for PWM frequency of 980.39 Hz divisor to 64 for PWM frequency of 490.20 Hz (The DEFAULT) divisor to 128 for PWM frequency of 245.10 Hz divisor to 256 for PWM frequency of 122.55 Hz divisor to 1024 for PWM frequency of 30.64 Hz

Definition at line 97 of file motor.h.

Referenced by setup().

move()

void motor::move ( int16_t speed )

inline

Move the DC motor with constant voltage (~speed)

Parameters

speed

Range minSpeed - maxSpeed, -255 - +255

Definition at line 190 of file motor.h.

References _maxSpeed, _minSpeed, _pwm_pin1, _pwm_pin2, speed, and stop().

Referenced by homing(), and loop().

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set_max()

void motor::set_max ( uint16_t max )

inline

Update the maximum speed of DC motor.

Parameters

max	Maximum speed, e.g. a range of 170 - 255

Definition at line 239 of file motor.h.

References _maxSpeed.

set_min()

void motor::set_min ( uint16_t min )

inline

Update the minimum speed of DC motor.

Parameters

min	Minimum speed, e.g. a range of 0 - 40

Definition at line 228 of file motor.h.

References _minSpeed.

stop()

void motor::stop ( )

inline

Stop moving the DC motor.

Definition at line 216 of file motor.h.

References _pwm_pin1, and _pwm_pin2.

Referenced by homing(), loop(), motor(), and move().

Member Data Documentation

_en_pin

uint8_t motor::_en_pin

private

Definition at line 244 of file motor.h.

Referenced by disenable(), enable(), init_pin(), and motor().

_fb_pin

uint8_t motor::_fb_pin

private

Definition at line 244 of file motor.h.

Referenced by get_load(), init_pin(), and motor().

_maxSpeed

int16_t motor::_maxSpeed

private

Definition at line 245 of file motor.h.

Referenced by motor(), move(), and set_max().

_minSpeed

int16_t motor::_minSpeed

private

Definition at line 245 of file motor.h.

Referenced by motor(), move(), and set_min().

_pwm_pin1

uint8_t motor::_pwm_pin1

private

Definition at line 244 of file motor.h.

Referenced by init_pin(), motor(), move(), and stop().

_pwm_pin2

uint8_t motor::_pwm_pin2

private

Definition at line 244 of file motor.h.

Referenced by init_pin(), motor(), move(), and stop().

_sf_pin

uint8_t motor::_sf_pin

private

Definition at line 244 of file motor.h.

Referenced by get_fault(), init_pin(), and motor().

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The documentation for this class was generated from the following file:

• libraries/motor.h