#include <motorpp.hpp>

Inheritance diagram for motor:

Collaboration diagram for motor:

Public Member Functions
	motor ()

	motor (memory_address_t ctrl_base, memory_address_t ctrl_pin, memory_address_t pwm_base, memory_address_t pwm_gen, memory_address_t pwm_out, bool motor_installed_backwards=false)

void	set_motor_installed_backwards (bool)

void	stop (void)

void	start (void)

void	set (percent_t speed)

void	set (percent_t percent_full_speed, Direction dir)

percent_t	get (void)

void	reverse (void)

Public Member Functions inherited from critical
uint32_t	StartCritical (void)

void	EndCritical (uint32_t primask)

Static Public Attributes
static const uint16_t	pwm_max_period = 10000

Private Member Functions
void	motor_init (void)

void	pwm_init (void)

Direction	adjusted_direction (void)

Private Attributes
blinker	ctrl

blinker	pwm

memory_address_t	ctrl_base

memory_address_t	ctrl_pin

memory_address_t	pwm_base

memory_address_t	pwm_pin

memory_address_t	pwm_gen

memory_address_t	pwm_out

bool	motor_installed_backwards

uint32_t	pwm_period

uint32_t	duty_period

Direction	direction

percent_t	current_speed

bool	enabled

Additional Inherited Members
Static Public Member Functions inherited from critical
static uint32_t	static_StartCritical (void)

static void	static_EndCritical (uint32_t primask)

Detailed Description

Definition at line 19 of file motorpp.hpp.

Constructor & Destructor Documentation

motor::motor ( )

Definition at line 11 of file motorpp.cpp.

11 {}

motor::motor	(	memory_address_t	ctrl_base,
		memory_address_t	ctrl_pin,
		memory_address_t	pwm_base,
		memory_address_t	pwm_gen,
		memory_address_t	pwm_out,
		bool	motor_installed_backwards = `false`
	)

Definition at line 13 of file motorpp.cpp.

References ctrl, ctrl_base, ctrl_pin, ctlsys::enable_periph(), enabled, motor_init(), motor_installed_backwards, pwm_base, pwm_gen, and pwm_out.

                                                                        {
 
     this->ctrl = blinker(ctrl_base, ctrl_pin);
     this->ctrl_base = ctrl_base;
     this->ctrl_pin = ctrl_pin;
     this->pwm_base = pwm_base;
     this->pwm_gen = pwm_gen;
     this->pwm_out = pwm_out;
 
     ctlsys::enable_periph(ctrl_base);
     ctlsys::enable_periph(pwm_base);
 
     this->motor_installed_backwards = motor_installed_backwards;
 
     enabled = false;
 
     motor_init();
 }

Here is the call graph for this function:

Member Function Documentation

Direction motor::adjusted_direction ( void )

private

Return direction adjusted for motor position on the robot – Direction refers to the robot's orientation, not the motor's

Definition at line 39 of file motorpp.cpp.

References direction, motor_installed_backwards, and nav::opposite().

Referenced by set().

                                     {
 
     return motor_installed_backwards ? nav::opposite(direction) :
         direction;
 }

Here is the call graph for this function:

Here is the caller graph for this function:

percent_t motor::get ( void )

Definition at line 141 of file motorpp.cpp.

References current_speed.

                      {
 
     return current_speed;
 }

void motor::motor_init ( void )

private

Initializes pins PE0-3 for output

Definition at line 89 of file motorpp.cpp.

References BACKWARD, direction, FORWARD, motor_installed_backwards, and pwm_init().

Referenced by motor().

                        {
 
     direction = motor_installed_backwards ? BACKWARD : FORWARD;
 
     pwm_init();
 }

Here is the call graph for this function:

Here is the caller graph for this function:

void motor::pwm_init ( void )

private

Definition at line 102 of file motorpp.cpp.

References ctrl_base, DEFAULT_PWM_PERIOD, ctlsys::enable_periph(), critical::EndCritical(), FORWARD, pwm_base, pwm_gen, pwm_out, set(), start(), and critical::StartCritical().

Referenced by motor_init().

                      {
 
     uint32_t status = StartCritical();
     /* nucleo: abstract */
     ctlsys::enable_periph(GPIO_PORTB_BASE);
     ctlsys::enable_periph(ctrl_base);
 
     SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
     PWMGenConfigure(pwm_base, pwm_gen, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
     PWMGenPeriodSet(pwm_base, pwm_gen, DEFAULT_PWM_PERIOD);
     PWMGenEnable(pwm_base, pwm_gen);
 
     switch(pwm_out) {
     case PWM_OUT_0:
         GPIOPinConfigure(GPIO_PB6_M0PWM0);
         GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_6);
         break;
     case PWM_OUT_1:
         GPIOPinConfigure(GPIO_PB7_M0PWM1);
         GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_7);
         break;
     default:
         while(1) {}
     }
 
     /* Enable the outputs. */
     PWMOutputState(pwm_base, (PWM_OUT_0_BIT | PWM_OUT_1_BIT), true);
 
     set(50, FORWARD);
     start();
     EndCritical(status);
 }

Here is the call graph for this function:

Here is the caller graph for this function:

void motor::reverse ( void )

Reverse motor direction.

note maintains current speed

Definition at line 136 of file motorpp.cpp.

References current_speed, direction, nav::opposite(), and set().

Referenced by switch_responder().

                     {
 
     set(current_speed, nav::opposite(direction));
 }

Here is the call graph for this function:

Here is the caller graph for this function:

void motor::set ( percent_t speed )

Set the motor speed.

Definition at line 67 of file motorpp.cpp.

References adjusted_direction(), BACKWARD, clamp(), current_speed, enabled, FORWARD, pwm_base, pwm_max_period, and pwm_out.

Referenced by drive::backward(), drive::forward(), pwm_init(), reverse(), drive::set(), set(), drive::steer(), and stop().

                                {
 
     speed = clamp(speed, 1, pwm_max_period);
 
     current_speed = speed;
 
     uint16_t adjusted_duty;
     switch(adjusted_direction()) {
     case FORWARD:
         adjusted_duty = speed;
         break;
     case BACKWARD:
         adjusted_duty = pwm_max_period - speed;
         break;
     default: while(1) {}
     }
 
     if (enabled == true) {
         PWMPulseWidthSet(pwm_base, pwm_out, speed);
     }
 }

Here is the call graph for this function:

Here is the caller graph for this function:

void motor::set	(	percent_t	percent_full_speed,
		Direction	dir
	)

Set motor speed and direction.

Definition at line 56 of file motorpp.cpp.

References adjusted_direction(), BACKWARD, ctrl, ctrl_pin, direction, FORWARD, set(), blinker::turn_off(), and blinker::turn_on().

                                               {
 
     this->direction = dir;
     switch(adjusted_direction()) {
     case FORWARD: ctrl.turn_off(ctrl_pin); break;
     case BACKWARD: ctrl.turn_on(ctrl_pin); break;
     default: while(1) {}
     }
     set(speed);
 }

Here is the call graph for this function:

void motor::set_motor_installed_backwards ( bool backwards )

Denote that this motor is fastened to the robot in such a way that it requires reversed (directionally) control signals.

Definition at line 34 of file motorpp.cpp.

References motor_installed_backwards.

                                                         {
 
     this->motor_installed_backwards = backwards;
 }

void motor::start ( void )

Enable power to the motor.

Definition at line 96 of file motorpp.cpp.

References enabled, pwm_base, and pwm_gen.

Referenced by pwm_init(), and drive::start().

                   {
 
     enabled = true;
     PWMGenEnable(pwm_base, pwm_gen);
 }

Here is the caller graph for this function:

void motor::stop ( void )

Cut all power to the motor.

Definition at line 45 of file motorpp.cpp.

References BACKWARD, direction, enabled, and set().

Referenced by drive::stop().

                  {
 
     if (direction == BACKWARD) {
         set(100);
     } else {
         set(0);
     }
     enabled = false;
     /* PWMGenDisable(pwm_base, pwm_gen); */
 }