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EXPERIMENTAL vpin for motorDriver power

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No need to use fastpin for power, so we can allow a remoted vpin which helps when TrafficManger is running short of pins
This commit is contained in:
Asbelos
2022-03-23 12:30:21 +00:00
parent 2a87a6e997
commit 99c7ff6c3f
4 changed files with 13 additions and 12 deletions
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11
MotorDriver.cpp
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@@ -33,11 +33,10 @@
bool MotorDriver::usePWM=false;
bool MotorDriver::commonFaultPin=false;
MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8_t brake_pin,
MotorDriver::MotorDriver(VPIN 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;
getFastPin(F("POWER"),powerPin,fastPowerPin);
pinMode(powerPin, OUTPUT);
IODevice::write(powerPin,LOW);// set to OUTPUT and off
signalPin=signal_pin;
getFastPin(F("SIG"),signalPin,fastSignalPin);
@@ -102,9 +101,9 @@ void MotorDriver::setPower(POWERMODE mode) {
// on the Pololu board if brake is wired to ^D2.
setBrake(true);
setBrake(false);
setHIGH(fastPowerPin);
IODevice::write(powerPin,HIGH);
}
else setLOW(fastPowerPin);
else IODevice::write(powerPin,LOW);
powerMode=mode;
}
@@ -160,7 +159,7 @@ int MotorDriver::getCurrentRaw() {
current = analogRead(currentPin)-senseOffset;
interrupts();
if (current<0) current=0-current;
if ((faultPin != UNUSED_PIN) && isLOW(fastFaultPin) && isHIGH(fastPowerPin))
if ((faultPin != UNUSED_PIN) && isLOW(fastFaultPin) && powerMode==POWERMODE::ON)
return (current == 0 ? -1 : -current);
return current;