arduino stuffs
Diffstat (limited to 'libraries/RobotMotor/Ardumoto/RobotMotor.cpp')
| -rwxr-xr-x | libraries/RobotMotor/Ardumoto/RobotMotor.cpp | 73 |
1 files changed, 73 insertions, 0 deletions
diff --git a/libraries/RobotMotor/Ardumoto/RobotMotor.cpp b/libraries/RobotMotor/Ardumoto/RobotMotor.cpp new file mode 100755 index 0000000..90b579f --- /dev/null +++ b/libraries/RobotMotor/Ardumoto/RobotMotor.cpp @@ -0,0 +1,73 @@ +/******************************************************* + RobotMotor.cpp // Ardumoto version + low level motor driver for use with ardumoto motor shield and 2WD robot + + Michael Margolis May 8 2012 +********************************************************/ + +#include <Arduino.h> +#include "RobotMotor.h" + +const int differential = 0; // % faster left motor turns compared to right + +/****** motor pin defines *************/ +// Pins connected to the motor driver. The PWM pins control the speed, and the +// other pins are select forward and reverse + +// Motor uses pins : 3,11,12,13 +const byte M_PWM_PIN[2] = {11,3}; // ardumoto v13 +const byte M_DIR_PIN[2] = {13,12}; +/* end of motor pin defines */ + +int motorSpeed[2] = {0,0}; // motor speed stored here (0-100%) + +// tables hold time in ms to rotate robot 360 degrees at various speeds +// this enables conversion of rotation angle into timed motor movement +// The speeds are percent of max speed +// Note: low cost motors do not have enough torque at low speeds so +// the robot will not move below this value +// Interpolation is used to get a time for any speed from MIN_SPEED to 100% + +const int MIN_SPEED = 40; // first table entry is 40% speed +const int SPEED_TABLE_INTERVAL = 10; // each table entry is 10% faster speed +const int NBR_SPEEDS = 1 + (100 - MIN_SPEED)/ SPEED_TABLE_INTERVAL; + +int speedTable[NBR_SPEEDS] = {40, 50, 60, 70, 80, 90, 100}; // speeds +int rotationTime[NBR_SPEEDS] = {5500, 3300, 2400, 2000, 1750, 1550, 1150}; // time + +void motorBegin(int motor) +{ + pinMode(M_DIR_PIN[motor], OUTPUT); + motorStop(motor); +} + +// speed range is 0 to 100 +void motorSetSpeed(int motor, int speed) +{ + motorSpeed[motor] = speed; // save the value + speed = map(speed, 0,100, 0,255); // scale to PWM range + analogWrite(M_PWM_PIN[motor], speed); // write the value +} + +void motorForward(int motor, int speed) +{ + digitalWrite(M_DIR_PIN[motor], HIGH); + motorSetSpeed(motor, speed); +} + +void motorReverse(int motor, int speed) +{ + digitalWrite(M_DIR_PIN[motor], LOW); + motorSetSpeed(motor, speed); +} + +void motorStop(int motor) +{ + analogWrite(M_PWM_PIN[motor], 0); +} + +void motorBrake(int motor) +{ + // Ardumoto does not support brake, so just stop the motor + analogWrite(M_PWM_PIN[motor], 0); +}
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