137 lines
3.3 KiB
C++
137 lines
3.3 KiB
C++
/*
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Motor.cpp - Motor library
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Copyright (c) 2012 Copenhagen Institute of Interaction Design.
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All right reserved.
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This library is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser Public License for more details.
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You should have received a copy of the GNU Lesser Public License
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along with Foobar. If not, see <http://www.gnu.org/licenses/>.
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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+ author: dviid
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+ contact: dviid@labs.ciid.dk
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*/
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#include "Motor.h"
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#include <avr/io.h>
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#define RESOLUTION 65536
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#define PD7 PORTD7
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#define PB0 PORTB0
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#define PB1 PORTB1
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#define PB2 PORTB2
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bool reg_init = false;
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MMotor MotorA(MOTORA); // this is motor A
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MMotor MotorB(MOTORB); // this is motor B
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MMotor::MMotor(MOTOR m)
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{
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_m = m;
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init();
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}
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void MMotor::init()
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{
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if(!reg_init){
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//PWM, Phase and Frequency
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//Correctthese modes are preferred for motor control applications p.130
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TCCR1A = 0;
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TCCR1B |= (1 << WGM13);
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//direction pins are outputs
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DDRD |= (1 << PD7);
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DDRB |= (1 << PB0);
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reg_init = true;
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}
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//set period for minimal noise
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_period(64);
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}
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void MMotor::_set_period_bits()
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{
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// clear prescaler reg
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TCCR1B &= ~((1 << CS10) | (1 << CS11) | (1 << CS12));
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if(_p < RESOLUTION) TCCR1B |= (1 << CS10); // pre-s 0
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else if((_p >>= 3) < RESOLUTION) TCCR1B |= (1 << CS11); // pre-s 8
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else if((_p >>= 3) < RESOLUTION) TCCR1B |= (1 << CS11) | (1 << CS10); // pre-s 64
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else if((_p >>= 2) < RESOLUTION) TCCR1B |= (1 << CS12); // pre-s 256
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else if((_p >>= 2) < RESOLUTION) TCCR1B |= (1 << CS12) | (1 << CS10); // pre-s 1024
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else _p = RESOLUTION - 1, TCCR1B |= (1 << CS12) | (1 << CS10); // pre-s 1024
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ICR1 = _p;
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}
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void MMotor::_period(long ms)
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{
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_p = (F_CPU * ms) / 2000000;
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_set_period_bits();
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}
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void MMotor::torque(int value)
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{
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if(_m == MOTORA) {
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DDRB |= (1 << PB1);
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TCCR1A |= (1 << COM1A1);
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} else if(_m == MOTORB) {
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DDRB |= (1 << PB2);
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TCCR1A |= (1 << COM1B1);
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}
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unsigned long duty = _p * value;
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duty >>= 10;
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if(_m == MOTORA) OCR1A = duty;
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else if(_m == MOTORB) OCR1B = duty;
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_t = value;
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start();
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}
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int MMotor::torque()
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{
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return _t;
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}
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void MMotor::direction(DIRECTION d)
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{
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_d = d;
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if(_m == MOTORA && _d == FORWARD) PORTD |= (1 << PD7);
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else if(_m == MOTORA && _d == BACKWARD) PORTD &= ~(1 << PD7);
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else if(_m == MOTORB && _d == BACKWARD) PORTB |= (1 << PB0);
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else if(_m == MOTORB && _d == FORWARD) PORTB &= ~(1 << PB0);
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}
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void MMotor::stop()
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{
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TCCR1B &= ~((1 << CS10) | (1 << CS11) | (1 << CS12));
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}
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void MMotor::start()
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{
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_set_period_bits();
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}
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void MMotor::restart()
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{
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TCNT1 = 0;
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}
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