73 lines
1.9 KiB
C++
73 lines
1.9 KiB
C++
#pragma once
|
|
|
|
#include "pico/stdlib.h"
|
|
#include "hardware/pwm.h"
|
|
|
|
namespace pimoroni {
|
|
|
|
class Motor {
|
|
//--------------------------------------------------
|
|
// Enums
|
|
//--------------------------------------------------
|
|
public:
|
|
enum DecayMode {
|
|
FAST_DECAY = 0, //aka 'Coasting'
|
|
SLOW_DECAY = 1, //aka 'Braking'
|
|
};
|
|
|
|
//--------------------------------------------------
|
|
// Constants
|
|
//--------------------------------------------------
|
|
public:
|
|
static const uint16_t DEFAULT_PWM_FREQUENCY = 25000; // Chose 25KHz because it is outside of hearing
|
|
// and divides nicely into the RP2040's 125MHz PWM frequency
|
|
static const DecayMode DEFAULT_DECAY_MODE = SLOW_DECAY;
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Variables
|
|
//--------------------------------------------------
|
|
private:
|
|
uint pin_pos;
|
|
uint pin_neg;
|
|
pwm_config pwm_cfg;
|
|
uint16_t pwm_period;
|
|
float pwm_frequency = DEFAULT_PWM_FREQUENCY;
|
|
|
|
DecayMode motor_decay_mode = DEFAULT_DECAY_MODE;
|
|
float motor_speed = 0.0f;
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Constructors/Destructor
|
|
//--------------------------------------------------
|
|
public:
|
|
Motor(uint pin_pos, uint pin_neg, float freq = DEFAULT_PWM_FREQUENCY, DecayMode mode = DEFAULT_DECAY_MODE);
|
|
~Motor();
|
|
|
|
|
|
//--------------------------------------------------
|
|
// Methods
|
|
//--------------------------------------------------
|
|
public:
|
|
bool init();
|
|
|
|
float get_speed();
|
|
void set_speed(float speed);
|
|
|
|
float get_frequency();
|
|
bool set_frequency(float freq);
|
|
|
|
DecayMode get_decay_mode();
|
|
void set_decay_mode(DecayMode mode);
|
|
|
|
void stop();
|
|
void disable();
|
|
|
|
//--------------------------------------------------
|
|
private:
|
|
void update_pwm();
|
|
};
|
|
|
|
}
|