mirror of https://github.com/FOME-Tech/fome-fw.git
54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
/**
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* @file DcMotor.h
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*
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* @date Dec 22, 2018
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* @author Matthew Kennedy, (c) 2018
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*/
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#pragma once
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#include "pwm_generator_logic.h"
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/**
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* @brief Brushed or brushless DC motor interface
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*
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* Represents a DC motor (brushed or brushless) that provides simple
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* torque/power/current/duty cycle control, but not accurate absolute position control.
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*/
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class DcMotor
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{
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public:
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/**
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* @brief Sets the motor duty cycle.
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* @param duty +1.0f represents full power forward, and -1.0f represents full power backward.
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* @return True if any fault was detected driving the motor, and false if successful.
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*/
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virtual bool Set(float duty) = 0;
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};
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/**
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* @brief Represents a DC motor controller (H bridge) with one pin for enable (PWM),
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* and two pins for direction control.
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*
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* The enable pin is used for PWM and disable, and the two direction pins are used
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* to set the polarity of each half of the H bridge. setting {dir1,dir2} = 10 should,
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* turn the motor one direction (positive duty), and = 01 should turn the other way (negative
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* duty).
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*/
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class TwoPinDcMotor : public DcMotor
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{
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private:
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SimplePwm* const m_pwm;
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OutputPin* const m_dir1;
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OutputPin* const m_dir2;
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public:
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/**
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* @param pwm SimplePwm driver for enable pin, for PWM speed control.
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* @param dir1 Enable 1 or direction 1 pin. Gets set high to rotate forward.
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* @param dir2 Enable 2 or direction 2 pin. Gets set high to rotate backward.
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*/
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TwoPinDcMotor(SimplePwm* pwm, OutputPin* dir1, OutputPin* dir2);
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virtual bool Set(float duty) override;
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};
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