【二叔科技】学习驱动电机
发现了一篇讲得比较好的帖子http://forum.godpub.com/article-2-1.html
class AF_DCMotor
{
public:
AF_DCMotor(uint8_t motornum, uint8_t freq =MOTOR34_8KHZ);
void run(uint8_t);
void setSpeed(uint8_t);
private:
uint8_t motornum, pwmfreq;
};
AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) {
motornum = num;
pwmfreq = freq;
MC.enable();
switch (num) {
case 1:
latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B); // set both motor pins to 0
MC.latch_tx();
initPWM1(freq);
break;
case 2:
latch_state &= ~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // set both motor pins to 0
MC.latch_tx();
initPWM2(freq);
break;
case 3:
latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B); // set both motor pins to 0
MC.latch_tx();
initPWM3(freq);
break;
case 4:
latch_state &= ~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // set both motor pins to 0
MC.latch_tx();
initPWM4(freq);
break;
}
}
void AF_DCMotor::setSpeed(uint8_t speed) {
switch (motornum) {
case 1:
setPWM1(speed); break;
case 2:
setPWM2(speed); break;
case 3:
setPWM3(speed); break;
case 4:
setPWM4(speed); break;
}
}
void AF_DCMotor::run(uint8_t cmd) {
uint8_t a, b;
switch (motornum) {
case 1:
a = MOTOR1_A; b = MOTOR1_B; break;
case 2:
a = MOTOR2_A; b = MOTOR2_B; break;
case 3:
a = MOTOR3_A; b = MOTOR3_B; break;
case 4:
a = MOTOR4_A; b = MOTOR4_B; break;
default:
return;
}
switch (cmd) {
case FORWARD:
latch_state |= _BV(a);
latch_state &= ~_BV(b);
MC.latch_tx();
break;
case BACKWARD:
latch_state &= ~_BV(a);
latch_state |= _BV(b);
MC.latch_tx();
break;
case RELEASE:
latch_state &= ~_BV(a);
latch_state &= ~_BV(b);
MC.latch_tx();
break;
}
} class AFMotorController
{
public:
AFMotorController(void);
void enable(void);
friend class AF_DCMotor;
void latch_tx(void);
};
AFMotorController::AFMotorController(void) {
}
void AFMotorController::enable(void) {
// setup the latch
/*
LATCH_DDR |= _BV(LATCH);
ENABLE_DDR |= _BV(ENABLE);
CLK_DDR |= _BV(CLK);
SER_DDR |= _BV(SER);
*/
pinMode(MOTORLATCH, OUTPUT);
pinMode(MOTORENABLE, OUTPUT);
pinMode(MOTORDATA, OUTPUT);
pinMode(MOTORCLK, OUTPUT);
latch_state = 0;
latch_tx();// "reset"
//ENABLE_PORT &= ~_BV(ENABLE); // enable the chip outputs!
digitalWrite(MOTORENABLE, LOW);
}
void AFMotorController::latch_tx(void) {
uint8_t i;
//LATCH_PORT &= ~_BV(LATCH);
digitalWrite(MOTORLATCH, LOW);
//SER_PORT &= ~_BV(SER);
digitalWrite(MOTORDATA, LOW);
for (i=0; i<8; i++) {
//CLK_PORT &= ~_BV(CLK);
digitalWrite(MOTORCLK, LOW);
if (latch_state & _BV(7-i)) {
//SER_PORT |= _BV(SER);
digitalWrite(MOTORDATA, HIGH);
} else {
//SER_PORT &= ~_BV(SER);
digitalWrite(MOTORDATA, LOW);
}
//CLK_PORT |= _BV(CLK);
digitalWrite(MOTORCLK, HIGH);
}
//LATCH_PORT |= _BV(LATCH);
digitalWrite(MOTORLATCH, HIGH);
} inline void initPWM1(uint8_t freq) {
#if defined(__AVR_ATmega8__) || \
defined(__AVR_ATmega48__) || \
defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || \
defined(__AVR_ATmega328P__)
// use PWM from timer2A on PB3 (Arduino pin #11)
TCCR2A |= _BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a
TCCR2B = freq & 0x7;
OCR2A = 0;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// on arduino mega, pin 11 is now PB5 (OC1A)
TCCR1A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a
TCCR1B = (freq & 0x7) | _BV(WGM12);
OCR1A = 0;
#else
#error "This chip is not supported!"
#endif
pinMode(11, OUTPUT);
}
inline void setPWM1(uint8_t s) {
#if defined(__AVR_ATmega8__) || \
defined(__AVR_ATmega48__) || \
defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || \
defined(__AVR_ATmega328P__)
// use PWM from timer2A on PB3 (Arduino pin #11)
OCR2A = s;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// on arduino mega, pin 11 is now PB5 (OC1A)
OCR1A = s;
#else
#error "This chip is not supported!"
#endif
}
inline void initPWM2(uint8_t freq) {
#if defined(__AVR_ATmega8__) || \
defined(__AVR_ATmega48__) || \
defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || \
defined(__AVR_ATmega328P__)
// use PWM from timer2B (pin 3)
TCCR2A |= _BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b
TCCR2B = freq & 0x7;
OCR2B = 0;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// on arduino mega, pin 3 is now PE5 (OC3C)
TCCR3A |= _BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c
TCCR3B = (freq & 0x7) | _BV(WGM12);
OCR3C = 0;
#else
#error "This chip is not supported!"
#endif
pinMode(3, OUTPUT);
}
inline void setPWM2(uint8_t s) {
#if defined(__AVR_ATmega8__) || \
defined(__AVR_ATmega48__) || \
defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || \
defined(__AVR_ATmega328P__)
// use PWM from timer2A on PB3 (Arduino pin #11)
OCR2B = s;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// on arduino mega, pin 11 is now PB5 (OC1A)
OCR3C = s;
#else
#error "This chip is not supported!"
#endif
}
inline void initPWM3(uint8_t freq) {
#if defined(__AVR_ATmega8__) || \
defined(__AVR_ATmega48__) || \
defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || \
defined(__AVR_ATmega328P__)
// use PWM from timer0A / PD6 (pin 6)
TCCR0A |= _BV(COM0A1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on OC0A
//TCCR0B = freq & 0x7;
OCR0A = 0;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// on arduino mega, pin 6 is now PH3 (OC4A)
TCCR4A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc4a
TCCR4B = (freq & 0x7) | _BV(WGM12);
//TCCR4B = 1 | _BV(WGM12);
OCR4A = 0;
#else
#error "This chip is not supported!"
#endif
pinMode(6, OUTPUT);
}
inline void setPWM3(uint8_t s) {
#if defined(__AVR_ATmega8__) || \
defined(__AVR_ATmega48__) || \
defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || \
defined(__AVR_ATmega328P__)
// use PWM from timer0A on PB3 (Arduino pin #6)
OCR0A = s;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// on arduino mega, pin 6 is now PH3 (OC4A)
OCR4A = s;
#else
#error "This chip is not supported!"
#endif
}
inline void initPWM4(uint8_t freq) {
#if defined(__AVR_ATmega8__) || \
defined(__AVR_ATmega48__) || \
defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || \
defined(__AVR_ATmega328P__)
// use PWM from timer0B / PD5 (pin 5)
TCCR0A |= _BV(COM0B1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on oc0a
//TCCR0B = freq & 0x7;
OCR0B = 0;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// on arduino mega, pin 5 is now PE3 (OC3A)
TCCR3A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc3a
TCCR3B = (freq & 0x7) | _BV(WGM12);
//TCCR4B = 1 | _BV(WGM12);
OCR3A = 0;
#else
#error "This chip is not supported!"
#endif
pinMode(5, OUTPUT);
}
inline void setPWM4(uint8_t s) {
#if defined(__AVR_ATmega8__) || \
defined(__AVR_ATmega48__) || \
defined(__AVR_ATmega88__) || \
defined(__AVR_ATmega168__) || \
defined(__AVR_ATmega328P__)
// use PWM from timer0A on PB3 (Arduino pin #6)
OCR0B = s;
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// on arduino mega, pin 6 is now PH3 (OC4A)
OCR3A = s;
#else
#error "This chip is not supported!"
#endif
}
二叔威武
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