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reeedstudio committed Jun 27, 2014
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198 changes: 198 additions & 0 deletions Hercules.cpp
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/*
moto_4wd.cpp
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author: Loovee
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
*/

#include <Arduino.h>
#include <seeed_pwm.h>
#include "motordriver_4wd.h"

/*********************************************************************************************************
** Function name: init
** Descriptions: init all pins
*********************************************************************************************************/
void motor_4wd::init()
{
motorSpeed1 = 0;
motorSpeed2 = 0;

motorDir1 = 0;
motorDir2 = 0;

motorState1 = STOP;
motorState2 = STOP;

// pwm set
PWM.init();
PWM.setPwm(9, 0, FREQPWM);
PWM.setPwm(10, 0, FREQPWM);

pinMode(PINCS, OUTPUT);
pinMode(PINM1F, OUTPUT);
pinMode(PINM1R, OUTPUT);
pinMode(PINM2F, OUTPUT);
pinMode(PINM2R, OUTPUT);

digitalWrite(PINCS, LOW);
digitalWrite(PINM1F, LOW);
digitalWrite(PINM1R, LOW);
digitalWrite(PINM2F, LOW);
digitalWrite(PINM2R, LOW);

}

/*********************************************************************************************************
** Function name: setRun1
** Descriptions: set motor 1 run
*********************************************************************************************************/
void motor_4wd::setRun1()
{
PWM.setPwm(9, motorSpeed1, FREQPWM);
ALLMOSON;
if(motorDir1 == DIRF)
{
digitalWrite(PINM1F, HIGH);
digitalWrite(PINM1R, LOW);
}
else
{
digitalWrite(PINM1F, LOW);
digitalWrite(PINM1R, HIGH);
}
motorState1 = RUN;
}

/*********************************************************************************************************
** Function name: setRun2
** Descriptions: set motor 2 run
*********************************************************************************************************/
void motor_4wd::setRun2()
{
PWM.setPwm(10, motorSpeed2, FREQPWM);
ALLMOSON;
if(motorDir2 == DIRF)
{
digitalWrite(PINM2F, HIGH);
digitalWrite(PINM2R, LOW);
}
else
{
digitalWrite(PINM2F, LOW);
digitalWrite(PINM2R, HIGH);
}
motorState2 = RUN;
}

/*********************************************************************************************************
** Function name: setStop1
** Descriptions: set motor 1 stop
*********************************************************************************************************/
void motor_4wd::setStop1()
{
PWM.setPwm(9, 0, FREQPWM);
digitalWrite(PINM1F, LOW);
digitalWrite(PINM1R, LOW);
motorState1 = STOP;
}

/*********************************************************************************************************
** Function name: setStop2
** Descriptions: set motor 2 stop
*********************************************************************************************************/
void motor_4wd::setStop2()
{
PWM.setPwm(10, 0, FREQPWM);
digitalWrite(PINM2F, LOW);
digitalWrite(PINM2R, LOW);
motorState2 = STOP;
}

/*********************************************************************************************************
** Function name: setSpeed1
** Descriptions: set motor 1 speed
*********************************************************************************************************/
void motor_4wd::setSpeed1(int ispeed) // pwm, 0-100
{
motorSpeed1 = ispeed < 100 ? ispeed : 100;
}

/*********************************************************************************************************
** Function name: setSpeed2
** Descriptions: set motor 1 speed
*********************************************************************************************************/
void motor_4wd::setSpeed2(int ispeed) // pwm, 0-100
{
motorSpeed2 = ispeed < 100 ? ispeed : 100;
}

/*********************************************************************************************************
** Function name: setDir1
** Descriptions: set motor 1 direction
*********************************************************************************************************/
void motor_4wd::setDir1(unsigned char dir)
{
motorDir1 = dir;
}

/*********************************************************************************************************
** Function name: setDir2
** Descriptions: set motor 2 direction
*********************************************************************************************************/
void motor_4wd::setDir2(unsigned char dir)
{
motorDir2 = dir;
}
/*********************************************************************************************************
** Function name: setSpeedDir
** Descriptions: set motor 2 direction
*********************************************************************************************************/
void motor_4wd::setSpeedDir(int ispeed, unsigned char dir)
{
setSpeedDir1(ispeed, dir);
setSpeedDir2(ispeed, dir);
}

/*********************************************************************************************************
** Function name: setSpeedDir1
** Descriptions: set motor1 speed and direction
*********************************************************************************************************/
void motor_4wd::setSpeedDir1(int ispeed, unsigned char dir)
{
setSpeed1(ispeed);
setDir1(dir);
setRun1();

}

/*********************************************************************************************************
** Function name: setSpeedDir2
** Descriptions: set motor2 speed and direction
*********************************************************************************************************/
void motor_4wd::setSpeedDir2(int ispeed, unsigned char dir)
{
setSpeed2(ispeed);
setDir2(dir);
setRun2();
}

motor_4wd MOTOR;

/*********************************************************************************************************
END FILE
*********************************************************************************************************/
67 changes: 67 additions & 0 deletions Hercules.h
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/*
moto_4wd.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author: Loovee
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_4WD_H__
#define __MOTORDRIVER_4WD_H__

#include "motordriver_4wd_dfs.h"

class motor_4wd
{
private:

unsigned char motorSpeed1; // pwm: 0-100
unsigned char motorSpeed2; // pwm: 0-100

unsigned char motorDir1;
unsigned char motorDir2;

unsigned char motorState1;
unsigned char motorState2;

public:

void init();

void setRun1();
void setRun2();

void setStop1();
void setStop2();

void setSpeed1(int ispeed); // pwm, 0-100
void setSpeed2(int ispeed); // pwm, 0-100

void setDir1(unsigned char dir);
void setDir2(unsigned char dir);

void setSpeedDir(int ispeed, unsigned char dir);
void setSpeedDir1(int ispeed, unsigned char dir);
void setSpeedDir2(int ispeed, unsigned char dir);

};

extern motor_4wd MOTOR;
#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/


56 changes: 56 additions & 0 deletions Hercules_dfs.h
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/*
moto_4wd_dfs.h
2012 Copyright (c) Seeed Technology Inc. All right reserved.
Author: Loovee
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_4WD_DFS_H__
#define __MOTORDRIVER_4WD_DFS_H__

#define FREQPWM 10000 // 10khZ

// order SEND
#define RETM1SPEED 0x87
#define RETM2SPEED 0x88
#define RETM1STATE 0x90
#define RETM2STATE 0x91

// motor state
#define STOP 0x00 // motor stop
#define RUN 0x01 // motor run

#define DIRF 0x00 // Forward
#define DIRR 0x01 // Reversion

// pin ctrl
#define PINCS 6 // all mos cs
#define PINM1F 4
#define PINM1R 5
#define PINM2F 7
#define PINM2R 8

//ctrl
#define ALLMOSON digitalWrite(PINCS, HIGH)
#define ALLMOSOFF digitalWrite(PINCS, LOW)




#endif
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
4 changes: 4 additions & 0 deletions README.md
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Hercules_Motor_Driver
=====================

Hercules, Motor Driver, SeeedStudio
20 changes: 20 additions & 0 deletions examples/motorDriverDemo/motorDriverDemo.ino
@@ -0,0 +1,20 @@
#include "motordriver_4wd.h"
#include <seeed_pwm.h>

void setup()
{
MOTOR.init();
}

void loop()
{
MOTOR.setSpeedDir(80, DIRF);
delay(3000);
MOTOR.setSpeedDir(80, DIRR);
delay(3000);
}
/*********************************************************************************************************
* END FILE
*********************************************************************************************************/


13 changes: 13 additions & 0 deletions examples/pwm/pwm.ino
@@ -0,0 +1,13 @@

#include "seeed_pwm.h"
void setup()
{
PWM.init(); // init
PWM.setPwm(9, 20, 5000); // pin: 9, duty: 20%, freq: 5kHz
PWM.setPwm(10, 80, 50000); // pin: 10, duty: 80%, freq: 5kHz

}

void loop()
{
}
28 changes: 28 additions & 0 deletions keywords.txt
@@ -0,0 +1,28 @@
#######################################
# Syntax Coloring Map For SoftPWM
#######################################

#######################################
# Datatypes (KEYWORD1)
#######################################

SoftPWM KEYWORD1

#######################################
# Methods and Functions (KEYWORD2)
#######################################

SoftPWMSet KEYWORD2
SoftPWMSetPercent KEYWORD2
SoftPWMSetFadeTime KEYWORD2
SoftPWMBegin KEYWORD2
SoftPWMEnd KEYWORD2
SoftPWMSetPolarity KEYWORD2

#######################################
# Constants (LITERAL1)
#######################################

ALL LITERAL1
SOFTPWM_NORMAL LITERAL1
SOFTPWM_INVERTED LITERAL1

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