HAHA!

2012-11-03 14:04:45 +01:00
commit 82f636dacd
37 changed files with 81640 additions and 0 deletions
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+/* 
+ Motor.cpp - Motor library
+ Copyright (c) 2012 Copenhagen Institute of Interaction Design. 
+ All right reserved.
+ 
+ This library is free software: you can redistribute it and/or modify
+ it under the terms of the GNU Lesser Public License as published by
+ the Free Software Foundation, either version 3 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 Public License for more details.
+ 
+ You should have received a copy of the GNU Lesser Public License
+ along with Foobar.  If not, see <http://www.gnu.org/licenses/>.
+ 
+ +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ + author: dviid
+ + contact: dviid@labs.ciid.dk 
+ */
+
+#include "Motor.h"
+#include <avr/io.h>
+
+#define RESOLUTION 65536
+
+#define PD7 PORTD7
+#define PB0 PORTB0
+#define PB1 PORTB1
+#define PB2 PORTB2
+
+bool reg_init = false;
+
+MMotor MotorA(MOTORA); // this is motor A
+MMotor MotorB(MOTORB); // this is motor B
+
+MMotor::MMotor(MOTOR m)
+{
+    _m = m;
+    init();
+}
+
+void MMotor::init()
+{    
+    if(!reg_init){
+        
+        //PWM, Phase and Frequency
+        //Correctthese modes are preferred for motor control applications p.130
+        TCCR1A = 0;
+        TCCR1B |= (1 << WGM13);
+        
+        //direction pins are outputs
+        DDRD |= (1 << PD7);
+        DDRB |= (1 << PB0);
+        
+        reg_init = true;
+    }
+    
+    //set period for minimal noise            
+    _period(64);
+    
+}
+
+void MMotor::_set_period_bits()
+{
+    // clear prescaler reg
+    TCCR1B &= ~((1 << CS10) | (1 << CS11) | (1 << CS12));
+    
+    if(_p < RESOLUTION)                  TCCR1B |= (1 << CS10);                  // pre-s 0
+    else if((_p >>= 3) < RESOLUTION)     TCCR1B |= (1 << CS11);                  // pre-s 8
+    else if((_p >>= 3) < RESOLUTION)     TCCR1B |= (1 << CS11) | (1 << CS10);    // pre-s 64
+    else if((_p >>= 2) < RESOLUTION)     TCCR1B |= (1 << CS12);                  // pre-s 256
+    else if((_p >>= 2) < RESOLUTION)     TCCR1B |= (1 << CS12) | (1 << CS10);    // pre-s 1024
+    else _p = RESOLUTION - 1,            TCCR1B |= (1 << CS12) | (1 << CS10);    // pre-s 1024
+    
+    ICR1 = _p;
+    
+}
+
+void MMotor::_period(long ms)
+{
+    _p = (F_CPU * ms) / 2000000;
+    _set_period_bits();
+}
+
+void MMotor::torque(int value) 
+{
+    
+    if(_m == MOTORA) {
+        DDRB |= (1 << PB1);
+        TCCR1A |= (1 << COM1A1);
+    } else if(_m == MOTORB) {
+        DDRB |= (1 << PB2);
+        TCCR1A |= (1 << COM1B1);        
+    }
+    
+    unsigned long duty = _p * value;
+    duty >>= 10;
+    if(_m == MOTORA) OCR1A = duty;
+    else if(_m == MOTORB) OCR1B = duty;    
+    _t = value;    
+    
+    start();
+}
+
+int MMotor::torque()
+{
+    return _t;
+}
+
+void MMotor::direction(DIRECTION d)
+{
+    _d = d;
+    if(_m == MOTORA && _d == FORWARD)           PORTD |= (1 << PD7);
+    else if(_m == MOTORA && _d == BACKWARD)     PORTD &= ~(1 << PD7);
+    else if(_m == MOTORB && _d == BACKWARD)     PORTB |= (1 << PB0);
+    else if(_m == MOTORB && _d == FORWARD)      PORTB &= ~(1 << PB0);    
+}
+
+void MMotor::stop()
+{
+    TCCR1B &= ~((1 << CS10) | (1 << CS11) | (1 << CS12));
+}
+
+void MMotor::start()
+{
+    _set_period_bits();
+}
+
+void MMotor::restart()
+{
+    TCNT1 = 0;
+}
+
@@ -0,0 +1,67 @@
+/* 
+ Motor.h - Motor library
+ Copyright (c) 2012 Copenhagen Institute of Interaction Design. 
+ All right reserved.
+ 
+ This library is free software: you can redistribute it and/or modify
+ it under the terms of the GNU Lesser Public License as published by
+ the Free Software Foundation, either version 3 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 Public License for more details.
+ 
+ You should have received a copy of the GNU Lesser Public License
+ along with Foobar.  If not, see <http://www.gnu.org/licenses/>.
+ 
+ +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ + author: dviid
+ + contact: dviid@labs.ciid.dk 
+ */
+
+#include <avr/io.h>
+
+enum MOTOR{
+    MOTORA = 0,
+    MOTORB = 1
+};
+
+enum DIRECTION {
+    FORWARD,
+    BACKWARD
+};
+
+class MMotor {    
+
+public:
+    
+    MMotor(MOTOR m);
+    
+    void init();
+    
+    void torque(int value);
+    int torque();
+    
+    void direction(DIRECTION d);
+    DIRECTION direction();
+    
+    void stop();
+    void start();
+    void restart();
+    
+private:
+    
+    void _period(long ms);
+    void _set_period_bits();
+    
+    MOTOR       _m;
+    DIRECTION   _d;
+    int         _t;  
+    long        _p;
+    
+};
+
+extern MMotor MotorA;
+extern MMotor MotorB;