【二叔科技】学习驱动电机

二叔科技

发现了一篇讲得比较好的帖子
http://forum.godpub.com/article-2-1.html

1. class AF_DCMotor
   
2. {
   
3. public:
   
4.   AF_DCMotor(uint8_t motornum, uint8_t freq =  MOTOR34_8KHZ);
   
5.   void run(uint8_t);
   
6.   void setSpeed(uint8_t);
   
7. 
   
8. private:
   
9.   uint8_t motornum, pwmfreq;
   
10. };

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1. AF_DCMotor::AF_DCMotor(uint8_t num, uint8_t freq) {
   
2.   motornum = num;
   
3.   pwmfreq = freq;
   
4. 
   
5.   MC.enable();
   
6. 
   
7.   switch (num) {
   
8.   case 1:
   
9.     latch_state &= ~_BV(MOTOR1_A) & ~_BV(MOTOR1_B); // set both motor pins to 0
   
10.     MC.latch_tx();
    
11.     initPWM1(freq);
    
12.     break;
    
13.   case 2:
    
14.     latch_state &= ~_BV(MOTOR2_A) & ~_BV(MOTOR2_B); // set both motor pins to 0
    
15.     MC.latch_tx();
    
16.     initPWM2(freq);
    
17.     break;
    
18.   case 3:
    
19.     latch_state &= ~_BV(MOTOR3_A) & ~_BV(MOTOR3_B); // set both motor pins to 0
    
20.     MC.latch_tx();
    
21.     initPWM3(freq);
    
22.     break;
    
23.   case 4:
    
24.     latch_state &= ~_BV(MOTOR4_A) & ~_BV(MOTOR4_B); // set both motor pins to 0
    
25.     MC.latch_tx();
    
26.     initPWM4(freq);
    
27.     break;
    
28.   }
    
29. }

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1. void AF_DCMotor::setSpeed(uint8_t speed) {
   
2.   switch (motornum) {
   
3.   case 1:
   
4.     setPWM1(speed); break;
   
5.   case 2:
   
6.     setPWM2(speed); break;
   
7.   case 3:
   
8.     setPWM3(speed); break;
   
9.   case 4:
   
10.     setPWM4(speed); break;
    
11.   }
    
12. }

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1. void AF_DCMotor::run(uint8_t cmd) {
   
2.   uint8_t a, b;
   
3.   switch (motornum) {
   
4.   case 1:
   
5.     a = MOTOR1_A; b = MOTOR1_B; break;
   
6.   case 2:
   
7.     a = MOTOR2_A; b = MOTOR2_B; break;
   
8.   case 3:
   
9.     a = MOTOR3_A; b = MOTOR3_B; break;
   
10.   case 4:
    
11.     a = MOTOR4_A; b = MOTOR4_B; break;
    
12.   default:
    
13.     return;
    
14.   }
    
15.   
    
16.   switch (cmd) {
    
17.   case FORWARD:
    
18.     latch_state |= _BV(a);
    
19.     latch_state &= ~_BV(b);
    
20.     MC.latch_tx();
    
21.     break;
    
22.   case BACKWARD:
    
23.     latch_state &= ~_BV(a);
    
24.     latch_state |= _BV(b);
    
25.     MC.latch_tx();
    
26.     break;
    
27.   case RELEASE:
    
28.     latch_state &= ~_BV(a);
    
29.     latch_state &= ~_BV(b);
    
30.     MC.latch_tx();
    
31.     break;
    
32.   }
    
33. }

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二叔科技

1. class AFMotorController
   
2. {
   
3.   public:
   
4.     AFMotorController(void);
   
5.     void enable(void);
   
6.     friend class AF_DCMotor;
   
7.     void latch_tx(void);
   
8. };

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1. AFMotorController::AFMotorController(void) {
   
2. }
   

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1. void AFMotorController::enable(void) {
   
2.   // setup the latch
   
3.   /*
   
4.   LATCH_DDR |= _BV(LATCH);
   
5.   ENABLE_DDR |= _BV(ENABLE);
   
6.   CLK_DDR |= _BV(CLK);
   
7.   SER_DDR |= _BV(SER);
   
8.   */
   
9.   pinMode(MOTORLATCH, OUTPUT);
   
10.   pinMode(MOTORENABLE, OUTPUT);
    
11.   pinMode(MOTORDATA, OUTPUT);
    
12.   pinMode(MOTORCLK, OUTPUT);
    
13. 
    
14.   latch_state = 0;
    
15. 
    
16.   latch_tx();  // "reset"
    
17. 
    
18.   //ENABLE_PORT &= ~_BV(ENABLE); // enable the chip outputs!
    
19.   digitalWrite(MOTORENABLE, LOW);
    
20. }
    

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1. void AFMotorController::latch_tx(void) {
   
2.   uint8_t i;
   
3. 
   
4.   //LATCH_PORT &= ~_BV(LATCH);
   
5.   digitalWrite(MOTORLATCH, LOW);
   
6. 
   
7.   //SER_PORT &= ~_BV(SER);
   
8.   digitalWrite(MOTORDATA, LOW);
   
9. 
   
10.   for (i=0; i<8; i++) {
    
11.     //CLK_PORT &= ~_BV(CLK);
    
12.     digitalWrite(MOTORCLK, LOW);
    
13. 
    
14.     if (latch_state & _BV(7-i)) {
    
15.       //SER_PORT |= _BV(SER);
    
16.       digitalWrite(MOTORDATA, HIGH);
    
17.     } else {
    
18.       //SER_PORT &= ~_BV(SER);
    
19.       digitalWrite(MOTORDATA, LOW);
    
20.     }
    
21.     //CLK_PORT |= _BV(CLK);
    
22.     digitalWrite(MOTORCLK, HIGH);
    
23.   }
    
24.   //LATCH_PORT |= _BV(LATCH);
    
25.   digitalWrite(MOTORLATCH, HIGH);
    
26. }

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二叔科技

1. inline void initPWM1(uint8_t freq) {
   
2. #if defined(__AVR_ATmega8__) || \
   
3.     defined(__AVR_ATmega48__) || \
   
4.     defined(__AVR_ATmega88__) || \
   
5.     defined(__AVR_ATmega168__) || \
   
6.     defined(__AVR_ATmega328P__)
   
7.     // use PWM from timer2A on PB3 (Arduino pin #11)
   
8.     TCCR2A |= _BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a
   
9.     TCCR2B = freq & 0x7;
   
10.     OCR2A = 0;
    
11. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
    
12.     // on arduino mega, pin 11 is now PB5 (OC1A)
    
13.     TCCR1A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc1a
    
14.     TCCR1B = (freq & 0x7) | _BV(WGM12);
    
15.     OCR1A = 0;
    
16. #else
    
17.    #error "This chip is not supported!"
    
18. #endif
    
19.     pinMode(11, OUTPUT);
    
20. }
    
21. 
    
22. inline void setPWM1(uint8_t s) {
    
23. #if defined(__AVR_ATmega8__) || \
    
24.     defined(__AVR_ATmega48__) || \
    
25.     defined(__AVR_ATmega88__) || \
    
26.     defined(__AVR_ATmega168__) || \
    
27.     defined(__AVR_ATmega328P__)
    
28.     // use PWM from timer2A on PB3 (Arduino pin #11)
    
29.     OCR2A = s;
    
30. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
    
31.     // on arduino mega, pin 11 is now PB5 (OC1A)
    
32.     OCR1A = s;
    
33. #else
    
34.    #error "This chip is not supported!"
    
35. #endif
    
36. }
    
37. 
    
38. inline void initPWM2(uint8_t freq) {
    
39. #if defined(__AVR_ATmega8__) || \
    
40.     defined(__AVR_ATmega48__) || \
    
41.     defined(__AVR_ATmega88__) || \
    
42.     defined(__AVR_ATmega168__) || \
    
43.     defined(__AVR_ATmega328P__)
    
44.     // use PWM from timer2B (pin 3)
    
45.     TCCR2A |= _BV(COM2B1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2b
    
46.     TCCR2B = freq & 0x7;
    
47.     OCR2B = 0;
    
48. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
    
49.     // on arduino mega, pin 3 is now PE5 (OC3C)
    
50.     TCCR3A |= _BV(COM1C1) | _BV(WGM10); // fast PWM, turn on oc3c
    
51.     TCCR3B = (freq & 0x7) | _BV(WGM12);
    
52.     OCR3C = 0;
    
53. #else
    
54.    #error "This chip is not supported!"
    
55. #endif
    
56. 
    
57.     pinMode(3, OUTPUT);
    
58. }
    
59. 
    
60. inline void setPWM2(uint8_t s) {
    
61. #if defined(__AVR_ATmega8__) || \
    
62.     defined(__AVR_ATmega48__) || \
    
63.     defined(__AVR_ATmega88__) || \
    
64.     defined(__AVR_ATmega168__) || \
    
65.     defined(__AVR_ATmega328P__)
    
66.     // use PWM from timer2A on PB3 (Arduino pin #11)
    
67.     OCR2B = s;
    
68. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
    
69.     // on arduino mega, pin 11 is now PB5 (OC1A)
    
70.     OCR3C = s;
    
71. #else
    
72.    #error "This chip is not supported!"
    
73. #endif
    
74. }
    
75. 
    
76. inline void initPWM3(uint8_t freq) {
    
77. #if defined(__AVR_ATmega8__) || \
    
78.     defined(__AVR_ATmega48__) || \
    
79.     defined(__AVR_ATmega88__) || \
    
80.     defined(__AVR_ATmega168__) || \
    
81.     defined(__AVR_ATmega328P__)
    
82.     // use PWM from timer0A / PD6 (pin 6)
    
83.     TCCR0A |= _BV(COM0A1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on OC0A
    
84.     //TCCR0B = freq & 0x7;
    
85.     OCR0A = 0;
    
86. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
    
87.     // on arduino mega, pin 6 is now PH3 (OC4A)
    
88.     TCCR4A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc4a
    
89.     TCCR4B = (freq & 0x7) | _BV(WGM12);
    
90.     //TCCR4B = 1 | _BV(WGM12);
    
91.     OCR4A = 0;
    
92. #else
    
93.    #error "This chip is not supported!"
    
94. #endif
    
95.     pinMode(6, OUTPUT);
    
96. }
    
97. 
    
98. inline void setPWM3(uint8_t s) {
    
99. #if defined(__AVR_ATmega8__) || \
    
100.     defined(__AVR_ATmega48__) || \
     
101.     defined(__AVR_ATmega88__) || \
     
102.     defined(__AVR_ATmega168__) || \
     
103.     defined(__AVR_ATmega328P__)
     
104.     // use PWM from timer0A on PB3 (Arduino pin #6)
     
105.     OCR0A = s;
     
106. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
     
107.     // on arduino mega, pin 6 is now PH3 (OC4A)
     
108.     OCR4A = s;
     
109. #else
     
110.    #error "This chip is not supported!"
     
111. #endif
     
112. }
     
113. 
     
114. 
     
115. 
     
116. inline void initPWM4(uint8_t freq) {
     
117. #if defined(__AVR_ATmega8__) || \
     
118.     defined(__AVR_ATmega48__) || \
     
119.     defined(__AVR_ATmega88__) || \
     
120.     defined(__AVR_ATmega168__) || \
     
121.     defined(__AVR_ATmega328P__)
     
122.     // use PWM from timer0B / PD5 (pin 5)
     
123.     TCCR0A |= _BV(COM0B1) | _BV(WGM00) | _BV(WGM01); // fast PWM, turn on oc0a
     
124.     //TCCR0B = freq & 0x7;
     
125.     OCR0B = 0;
     
126. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
     
127.     // on arduino mega, pin 5 is now PE3 (OC3A)
     
128.     TCCR3A |= _BV(COM1A1) | _BV(WGM10); // fast PWM, turn on oc3a
     
129.     TCCR3B = (freq & 0x7) | _BV(WGM12);
     
130.     //TCCR4B = 1 | _BV(WGM12);
     
131.     OCR3A = 0;
     
132. #else
     
133.    #error "This chip is not supported!"
     
134. #endif
     
135.     pinMode(5, OUTPUT);
     
136. }
     
137. 
     
138. inline void setPWM4(uint8_t s) {
     
139. #if defined(__AVR_ATmega8__) || \
     
140.     defined(__AVR_ATmega48__) || \
     
141.     defined(__AVR_ATmega88__) || \
     
142.     defined(__AVR_ATmega168__) || \
     
143.     defined(__AVR_ATmega328P__)
     
144.     // use PWM from timer0A on PB3 (Arduino pin #6)
     
145.     OCR0B = s;
     
146. #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
     
147.     // on arduino mega, pin 6 is now PH3 (OC4A)
     
148.     OCR3A = s;
     
149. #else
     
150.    #error "This chip is not supported!"
     
151. #endif
     
152. }
     

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