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handle motorboards with invereted brake pin (like pololu)

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This commit is contained in:
Harald Barth
2020-10-31 11:26:23 +01:00
parent 50e85d0b79
commit 7a5b84ef18
3 changed files with 31 additions and 9 deletions
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25
MotorDriver.cpp
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@@ -34,7 +34,7 @@
#define ReadPin digitalRead2
#endif
MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin,
MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
powerPin=power_pin;
signalPin=signal_pin;
@@ -46,7 +46,8 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte
tripMilliamps=trip_milliamps;
rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
pinMode(powerPin, OUTPUT);
pinMode(brakePin, OUTPUT);
pinMode(brakePin < 0 ? -brakePin : brakePin, OUTPUT);
setBrake(false);
pinMode(signalPin, OUTPUT);
if (signalPin2 != UNUSED_PIN) pinMode(signalPin2, OUTPUT);
pinMode(currentPin, INPUT);
@@ -56,8 +57,24 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte
void MotorDriver::setPower(bool on) {
WritePin(powerPin, on ? HIGH : LOW);
}
void MotorDriver::setBrake( bool on) {
WritePin(brakePin, on ? HIGH : LOW);
// setBrake applies brake if on == true. So to get
// voltage from the motor bride one needs to do a
// setBrake(false).
// If the brakePin is negative that means the sense
// of the brake pin on the motor bridge is inverted
// (HIGH == release brake) and setBrake does
// compensate for that.
//
void MotorDriver::setBrake(bool on) {
bool state = on;
byte pin = brakePin;
if (brakePin < 0) {
pin=-pin;
state=!state;
}
WritePin(pin, state ? HIGH : LOW);
//DIAG(F("BrakePin: %d is %d\n"), pin, ReadPin(pin));
}
void MotorDriver::setSignal( bool high) {