dcmotor

Author: gbr1

Arduino_Robot_Firmware.h

@@ -6,5 +6,8 @@
 #include "HAL_custom_init.h"
 #include "encoder.h"
 #include "rgb_led.h"
+#include "dcmotor.h"
+
+
 
 #endif

HAL_custom_init.h

@@ -3,6 +3,7 @@
 
 
 // Set PA_0 and PA_1 as alternate function 1 -> TIM2
+/*
 void AF_Tim2_pins_encoder(){
     GPIO_InitTypeDef GPIO_InitStruct;
 	__HAL_RCC_TIM2_CLK_ENABLE();
@@ -13,6 +14,13 @@ void AF_Tim2_pins_encoder(){
     GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
 	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 }
+*/
+
+
+/***************************************************************/
+/*                            Encoder                          */
+/***************************************************************/
+
 
 // Set PA_0 and PA_1 as alternate function 1 -> TIM5
 void AF_Tim5_pins_encoder(){
@@ -38,6 +46,30 @@ void AF_Tim3_pins_encoder(){
 	HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 }
 
+/***************************************************************/
+/*                             PWM                             */
+/***************************************************************/
+
+void AF_Tim2_pwm(){
+    GPIO_InitTypeDef GPIO_InitStructA;
+	__HAL_RCC_TIM2_CLK_ENABLE();
+	__HAL_RCC_GPIOA_CLK_ENABLE();
+    GPIO_InitStructA.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_15;
+	GPIO_InitStructA.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStructA.Pull = GPIO_NOPULL;
+  	GPIO_InitStructA.Alternate = GPIO_AF1_TIM2;
+	HAL_GPIO_Init(GPIOA, &GPIO_InitStructA);
+
+
+	GPIO_InitTypeDef GPIO_InitStructB;
+	__HAL_RCC_TIM2_CLK_ENABLE();
+	__HAL_RCC_GPIOB_CLK_ENABLE();
+    GPIO_InitStructB.Pin = GPIO_PIN_3;
+	GPIO_InitStructB.Mode = GPIO_MODE_AF_PP;
+	GPIO_InitStructB.Pull = GPIO_NOPULL;
+  	GPIO_InitStructB.Alternate = GPIO_AF1_TIM2;
+	HAL_GPIO_Init(GPIOB, &GPIO_InitStructB);
+}
 
 
 

dcmotor.h

@@ -0,0 +1,61 @@
+#ifndef __DC_MOTOR_H__
+#define __DC_MOTOR_H__
+
+#include "Arduino.h"
+
+class DCmotor{
+    private:
+        uint32_t pinA;
+        uint32_t chA;
+        uint32_t pinB;
+        uint32_t chB;
+        TIM_HandleTypeDef htimX;
+        HardwareTimer * timX;
+        uint32_t frequency;
+
+        void pwmWrite(uint32_t ch, uint32_t value){
+            timX->setCaptureCompare(ch, value, RESOLUTION_12B_COMPARE_FORMAT);
+        }
+
+    public:
+        DCmotor(const uint32_t _pinA, const uint32_t _chA, const uint32_t _pinB, const uint32_t _chB, 
+                const bool flip=false,TIM_TypeDef * _tim = TIM2, const uint32_t _frequency=20000){
+            if (!flip){
+                pinA=_pinA;
+                chA=_chA;
+                pinB=_pinB;
+                chB=_chB; 
+            }
+            else{
+                pinA=_pinB;
+                chA=_chB;
+                pinB=_pinA;
+                chB=_chA;                
+            }
+            htimX.Instance = _tim; 
+            frequency=_frequency;
+        }
+
+        void begin(){
+            timX = new HardwareTimer(htimX.Instance);
+            timX->setPWM(chA, pinA, frequency, 0);  
+            timX->setPWM(chB, pinB, frequency, 0);  
+        }
+
+        void setSpeed(const int speed){
+            if (speed>=0){
+                pwmWrite(chA,speed);
+                pwmWrite(chB,0);
+            }
+            else{
+                pwmWrite(chA,0);
+                pwmWrite(chB,-speed);
+            } 
+        }
+
+        void stop(){
+            setSpeed(0);
+        }
+};
+
+#endif

examples/test/test.ino

@@ -1,31 +1,42 @@
 #include "Arduino_Robot_Firmware.h"
 
 Encoder enc_right(TIM5);
-Encoder enc_left(TIM3);
-RGBled led1(LED_1_RED, LED_1_GREEN, LED_1_BLUE);
+//Encoder enc_left(TIM3);
+
+DCmotor motor_right(MOTOR_RIGHT_A,MOTOR_RIGHT_A_CH,MOTOR_RIGHT_B,MOTOR_RIGHT_B_CH);
+DCmotor motor_left(MOTOR_LEFT_A,MOTOR_LEFT_A_CH,MOTOR_LEFT_B,MOTOR_LEFT_B_CH);
 
 
 void setup(){
     Serial.begin(115200);
     Serial.println("Start");
+    Serial.println("af2");
+    AF_Tim2_pwm();
+    Serial.println("af5");
     AF_Tim5_pins_encoder();
-    AF_Tim3_pins_encoder();
+    //AF_Tim3_pins_encoder();
+    Serial.println("encoder");
     enc_right.begin();
-    enc_left.begin();
+    //enc_left.begin();
+    Serial.println("motor right");
+    motor_right.begin();
+    Serial.println("motor left");
+    motor_left.begin();
 
 }
 
 void loop(){
-  Serial.print(enc_right.getCount());
-  if (enc_right.getCount()>0){
-    led1.setBlue(HIGH);
-    led1.setRed(LOW);
-  }
-  else{
-    led1.setBlue(LOW);
-    led1.setRed(HIGH);
+  int k=-4096;
+  while(k<4096){
+    Serial.print(enc_right.getCount());
+    Serial.print("  ");
+    //Serial.print(enc_left.getCount());
+    Serial.print("  ");
+    Serial.print(k);
+    Serial.print("\n");
+    motor_right.setSpeed(k);
+    motor_left.setSpeed(k);
+    delay(10);
+    k+=10;
   }
-  Serial.print("  ");
-  Serial.println(enc_left.getCount());
-  delay(10);
 }

pinout_definitions.h

@@ -6,15 +6,19 @@
 #define ENC_RIGHT_TIMER TIM2
 #define ENC_RIGHT_A PA_0
 #define ENC_RIGHT_B PA_1
-#define MOTOR_RIGHT_A PA_2
-#define MOTOR_RIGHT_B PA_3
+#define MOTOR_RIGHT_A PA2
+#define MOTOR_RIGHT_A_CH 3
+#define MOTOR_RIGHT_B PA3
+#define MOTOR_RIGHT_B_CH 4
 
 // Left Motor
 #define ENC_LEFT_TIMER TIM3
-#define ENC_RIGHT_A PC_6
-#define ENC_RIGHT_B PC_7
-#define MOTOR_RIGHT_A PA_15
-#define MOTOR_RIGHT_B PB_3
+#define ENC_LEFT_A PC_6
+#define ENC_LEFT_B PC_7
+#define MOTOR_LEFT_A PA15
+#define MOTOR_LEFT_A_CH 1
+#define MOTOR_LEFT_B PB3
+#define MOTOR_LEFT_B_CH 2
 
 
 // Leds