114 lines
3.1 KiB
C++
114 lines
3.1 KiB
C++
#include "DRV8870.h"
|
||
#include <Arduino.h>
|
||
DRV8870::DRV8870(int motor_pin_1, int motor_pin_2)
|
||
{
|
||
this->_motor_count = 1;
|
||
this->_motor_pin_1 = motor_pin_1;
|
||
this->_motor_pin_2 = motor_pin_2;
|
||
pinMode(this->_motor_pin_1, OUTPUT);
|
||
pinMode(this->_motor_pin_2, OUTPUT);
|
||
}
|
||
DRV8870::DRV8870(int motor_pin_1, int motor_pin_2, int motor_pin_3, int motor_pin_4)
|
||
{
|
||
this->_motor_count = 2;
|
||
this->_motor_pin_1 = motor_pin_1;
|
||
this->_motor_pin_2 = motor_pin_2;
|
||
this->_motor_pin_3 = motor_pin_3;
|
||
this->_motor_pin_4 = motor_pin_4;
|
||
pinMode(this->_motor_pin_1, OUTPUT);
|
||
pinMode(this->_motor_pin_2, OUTPUT);
|
||
pinMode(this->_motor_pin_3, OUTPUT);
|
||
pinMode(this->_motor_pin_4, OUTPUT);
|
||
}
|
||
void DRV8870::setMaxSpeed(int max_speed)
|
||
{
|
||
this->max_speed = max_speed;
|
||
}
|
||
void DRV8870::setSpeed(int motor_speed, int direction)
|
||
{
|
||
switch (this->_motor_count)
|
||
{
|
||
case 1:
|
||
switch (direction)
|
||
{
|
||
case HighLow:
|
||
analogWrite(this->_motor_pin_1, motor_speed);
|
||
analogWrite(this->_motor_pin_2, 0);
|
||
break;
|
||
case LowHigh:
|
||
analogWrite(this->_motor_pin_1, 0);
|
||
analogWrite(this->_motor_pin_2, motor_speed);
|
||
break;
|
||
case HighHigh:
|
||
analogWrite(this->_motor_pin_1, 0);
|
||
analogWrite(this->_motor_pin_2, 0);
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
break;
|
||
case 2:
|
||
switch (direction)
|
||
{
|
||
case HighLow:
|
||
analogWrite(this->_motor_pin_1, motor_speed);
|
||
analogWrite(this->_motor_pin_2, 0);
|
||
analogWrite(this->_motor_pin_3, motor_speed);
|
||
analogWrite(this->_motor_pin_4, 0);
|
||
break;
|
||
case LowHigh:
|
||
analogWrite(this->_motor_pin_1, 0);
|
||
analogWrite(this->_motor_pin_2, motor_speed);
|
||
analogWrite(this->_motor_pin_3, 0);
|
||
analogWrite(this->_motor_pin_4, motor_speed);
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
//brake 有误，不在代码中使用
|
||
void DRV8870::brake(int mode) //LL休眠，HH刹车
|
||
{
|
||
if (mode == COAST)
|
||
{
|
||
switch (this->_motor_count)
|
||
{
|
||
case 1:
|
||
digitalWrite(this->_motor_pin_1, LOW);
|
||
digitalWrite(this->_motor_pin_2, LOW);
|
||
break;
|
||
case 2:
|
||
digitalWrite(this->_motor_pin_1, LOW);
|
||
digitalWrite(this->_motor_pin_2, LOW);
|
||
digitalWrite(this->_motor_pin_3, LOW);
|
||
digitalWrite(this->_motor_pin_4, LOW);
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
else if (mode == BRAKE)
|
||
{
|
||
switch (this->_motor_count)
|
||
{
|
||
case 1:
|
||
digitalWrite(this->_motor_pin_1, HIGH);
|
||
digitalWrite(this->_motor_pin_2, HIGH);
|
||
break;
|
||
case 2:
|
||
digitalWrite(this->_motor_pin_1, HIGH);
|
||
digitalWrite(this->_motor_pin_2, HIGH);
|
||
digitalWrite(this->_motor_pin_3, HIGH);
|
||
digitalWrite(this->_motor_pin_4, HIGH);
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
}
|