124 lines
2.6 KiB
C++
124 lines
2.6 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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#include <stdlib.h>
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#include <avr/interrupt.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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}
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void MMotor::init()
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{
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if(!reg_init){
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//cli();
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//direction pins are outputs
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DDRD |= (1 << PD7);
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DDRB |= (1 << PB0) | (1 << PB1) | (1 << PB2);
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TCCR1A = (1 << COM1A1) | (1 << COM1B1);
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//TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
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// clear the bits
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//TCCR1B &= ~((1 << CS10) | (1 << CS11) | (1 << CS12));
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TCCR1B = (1 << WGM13) | (1 << CS10);
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ICR1 = 512;
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//OCR1A = 512;
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reg_init = true;
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//sei();
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}
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}
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void MMotor::torque(int value)
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{
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if(value < 0) {
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_d = BACKWARD;
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} else {
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_d = FORWARD;
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}
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value = abs(value);
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if(value > 512) value = 512;
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//else value = abs(512);
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if(_m == MOTORA) {
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OCR1A = value;
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direction(_d);
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}
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else if(_m == MOTORB) {
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OCR1B = value;
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direction(_d);
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}
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_t = value;
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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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TCCR1B = (1 << WGM13) | (1 << CS10);
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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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