Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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100 lines
3.1 KiB
100 lines
3.1 KiB
#include "MX1508.h"
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MX1508::MX1508( uint8_t pinIN1, uint8_t pinIN2) {
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_pinIN1 = pinIN1; // always a PWM pin
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_pinIN2 = pinIN2; // can be a non-Pwm pin.
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_whichMode = FAST_DECAY;
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_numPwmPins = PWM_2PIN;
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pinMode(_pinIN1, OUTPUT);
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pinMode(_pinIN2, OUTPUT);
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}
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MX1508::MX1508( uint8_t pinIN1, uint8_t pinIN2, DecayMode decayMode, NumOfPwmPins numPins) {
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_pinIN1 = pinIN1; // always a PWM pin
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_pinIN2 = pinIN2; // can be a non-Pwm pin.
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_whichMode = decayMode;
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_numPwmPins = numPins;
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pinMode(_pinIN1, OUTPUT);
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pinMode(_pinIN2, OUTPUT);
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}
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int MX1508::getPWM() {
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return _pwmVal;
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}
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void MX1508::stopMotor() {
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digitalWrite(_pinIN1, LOW);
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digitalWrite(_pinIN2, LOW);
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}
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void MX1508::setResolution(unsigned int pwmResolution) {
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_pwmResolution = pwmResolution;
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if(_useAnalogWrite16) ICR1 = pwmResolution;
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}
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void MX1508::setPWM16(uint8_t prescaler, unsigned int resolution){
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if(prescaler > 5 || prescaler == 0) prescaler = 3; // default to 64 if not in range.
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DDRB |= _BV(PB1) | _BV(PB2); /* set pin 9and 10 as outputs */
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TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM11); // non-inverting PWM, mode 14 fastPWM, TOP =ICR1
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TCCR1B = _BV(WGM13) | _BV(WGM12) | prescaler ; // rescaler must be 1->5, 1,8,64,256,1028 respectively
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ICR1 = resolution;
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_pwmResolution = resolution;
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_useAnalogWrite16 = true;
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}
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void MX1508::analogWrite16(uint8_t pin, uint16_t val)
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{
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if(_useAnalogWrite16){
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if(val < 5) val =5;
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switch (pin) {
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case 9: OCR1A = val; break;
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case 10: OCR1B = val; break;
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default: analogWrite(pin,val);
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}
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}else{
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analogWrite(pin, val);
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}
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}
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void MX1508::motorGo(long pwmSpeed) {
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_pwmVal = pwmSpeed;
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if(pwmSpeed == 0) {
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this->stopMotor();
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} else {
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// if set decay mode is set as fast decay mode
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if (this->_whichMode == FAST_DECAY) {
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if (pwmSpeed >= 0) { //forward fast decay
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if(_numPwmPins == PWM_1PIN)digitalWrite(_pinIN2, LOW);
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else analogWrite16(_pinIN2, 1);
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analogWrite16(_pinIN1, pwmSpeed);
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} else if (this->_numPwmPins == PWM_2PIN) { // reverse fast decay
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pwmSpeed *= -1;
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analogWrite16(_pinIN1, 1);
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analogWrite16(_pinIN2, pwmSpeed);
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} else if (this->_numPwmPins == PWM_1PIN) { // reverse slow decay
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pwmSpeed *= -1;
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pwmSpeed = map(pwmSpeed, 0, _pwmResolution, _pwmResolution, 0);
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digitalWrite(_pinIN2, HIGH);
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analogWrite16(_pinIN1, pwmSpeed);
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}
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}
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// if decay mode is set as slow decay mode
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else {
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if (pwmSpeed >= 0) { // forward slow decay
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pwmSpeed = map(pwmSpeed, 0, _pwmResolution, _pwmResolution, 0);
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if(_numPwmPins == PWM_1PIN)digitalWrite(_pinIN1, HIGH);
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else analogWrite16(_pinIN1, _pwmResolution);
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analogWrite16(_pinIN2, pwmSpeed);
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} else if (this->_numPwmPins == PWM_2PIN) { // reverse slow decay
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pwmSpeed *= -1;
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pwmSpeed = map(pwmSpeed, 0, _pwmResolution, _pwmResolution, 0);
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analogWrite16(_pinIN2, _pwmResolution);
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analogWrite16(_pinIN1, pwmSpeed);
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} else if (this->_numPwmPins == PWM_1PIN) { // reverse fast decay
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pwmSpeed *= -1;
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digitalWrite(_pinIN1, LOW);
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analogWrite16(_pinIN2, pwmSpeed);
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}
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}
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}
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}
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