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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
View File

@ -34,7 +34,7 @@
#define ReadPin digitalRead2 #define ReadPin digitalRead2
#endif #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) { byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
powerPin=power_pin; powerPin=power_pin;
signalPin=signal_pin; signalPin=signal_pin;
@ -46,7 +46,8 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte
tripMilliamps=trip_milliamps; tripMilliamps=trip_milliamps;
rawCurrentTripValue=(int)(trip_milliamps / sense_factor); rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
pinMode(powerPin, OUTPUT); pinMode(powerPin, OUTPUT);
pinMode(brakePin, OUTPUT); pinMode(brakePin < 0 ? -brakePin : brakePin, OUTPUT);
setBrake(false);
pinMode(signalPin, OUTPUT); pinMode(signalPin, OUTPUT);
if (signalPin2 != UNUSED_PIN) pinMode(signalPin2, OUTPUT); if (signalPin2 != UNUSED_PIN) pinMode(signalPin2, OUTPUT);
pinMode(currentPin, INPUT); pinMode(currentPin, INPUT);
@ -56,8 +57,24 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte
void MotorDriver::setPower(bool on) { void MotorDriver::setPower(bool on) {
WritePin(powerPin, on ? HIGH : LOW); 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) { void MotorDriver::setSignal( bool high) {

5
MotorDriver.h
View File

@ -22,7 +22,7 @@
class MotorDriver { class MotorDriver {
public: public:
MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin); MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
virtual void setPower( bool on); virtual void setPower( bool on);
virtual void setSignal( bool high); virtual void setSignal( bool high);
virtual void setBrake( bool on); virtual void setBrake( bool on);
@ -34,7 +34,8 @@ class MotorDriver {
} }
private: private:
byte powerPin, signalPin, signalPin2, brakePin,currentPin,faultPin; byte powerPin, signalPin, signalPin2, currentPin, faultPin;
int8_t brakePin;
float senseFactor; float senseFactor;
unsigned int tripMilliamps; unsigned int tripMilliamps;
int rawCurrentTripValue; int rawCurrentTripValue;

10
MotorDrivers.h
View File

@ -15,8 +15,12 @@
const byte UNUSED_PIN = 255; const byte UNUSED_PIN = 255;
// MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin, // MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin, byte current_pin,
// float senseFactor, unsigned int tripMilliamps, byte faultPin); // float senseFactor, unsigned int tripMilliamps, byte faultPin);
//
// If the brakePin is negative that means the sense
// of the brake pin on the motor bridge is inverted
// (HIGH == release brake)
// Arduino standard Motor Shield // Arduino standard Motor Shield
#define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \ #define STANDARD_MOTOR_SHIELD F("STANDARD_MOTOR_SHIELD"), \
@ -25,8 +29,8 @@ const byte UNUSED_PIN = 255;
// Pololu Motor Shield // Pololu Motor Shield
#define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \ #define POLOLU_MOTOR_SHIELD F("POLOLU_MOTOR_SHIELD"), \
new MotorDriver(4, 7, UNUSED_PIN, 9, A0, 18, 3000, 12), \ new MotorDriver(4, 7, UNUSED_PIN, -9, A0, 18, 3000, 12), \
new MotorDriver(2, 8, UNUSED_PIN, 10, A1, 18, 3000, UNUSED_PIN) new MotorDriver(2, 8, UNUSED_PIN, -10, A1, 18, 3000, UNUSED_PIN)
// Firebox Mk1 // Firebox Mk1
#define FIREBOX_MK1 F("FIREBOX_MK1"), \ #define FIREBOX_MK1 F("FIREBOX_MK1"), \