yikestone/ros_arduino_bridge
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added L298 Motor Driver

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This commit is contained in:
Anas I Gouda 2017-08-19 04:00:43 +02:00
parent 641e015b4e
commit 8523223ca6
3 changed files with 43 additions and 0 deletions
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3
ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
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@ -61,6 +61,9 @@
/* Encoders directly attached to Arduino board */ /* Encoders directly attached to Arduino board */
//#define ARDUINO_ENC_COUNTER //#define ARDUINO_ENC_COUNTER
/* L298 Motor driver*/
//#define L298_MOTOR_DRIVER
#endif #endif
#define USE_SERVOS // Enable use of PWM servos as defined in servos.h #define USE_SERVOS // Enable use of PWM servos as defined in servos.h

9
ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.h
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@ -2,6 +2,15 @@
Motor driver function definitions - by James Nugen Motor driver function definitions - by James Nugen
*************************************************************/ *************************************************************/
#ifdef L298_MOTOR_DRIVER
#define RIGHT_MOTOR_BACKWARD 5
#define LEFT_MOTOR_BACKWARD 6
#define RIGHT_MOTOR_FORWARD 9
#define LEFT_MOTOR_FORWARD 10
#define RIGHT_MOTOR_ENABLE 12
#define LEFT_MOTOR_ENABLE 13
#endif
void initMotorController(); void initMotorController();
void setMotorSpeed(int i, int spd); void setMotorSpeed(int i, int spd);
void setMotorSpeeds(int leftSpeed, int rightSpeed); void setMotorSpeeds(int leftSpeed, int rightSpeed);

31
ros_arduino_firmware/src/libraries/ROSArduinoBridge/motor_driver.ino
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@ -51,6 +51,37 @@
} }
// A convenience function for setting both motor speeds // A convenience function for setting both motor speeds
void setMotorSpeeds(int leftSpeed, int rightSpeed) {
setMotorSpeed(LEFT, leftSpeed);
setMotorSpeed(RIGHT, rightSpeed);
}
#elif defined L298_MOTOR_DRIVER
void initMotorController() {
digitalWrite(RIGHT_MOTOR_ENABLE, HIGH);
digitalWrite(LEFT_MOTOR_ENABLE, HIGH);
}
void setMotorSpeed(int i, int spd) {
unsigned char reverse = 0;
if (spd < 0)
{
spd = -spd;
reverse = 1;
}
if (spd > 255)
spd = 255;
if (i == LEFT) {
if (reverse == 0) { analogWrite(RIGHT_MOTOR_FORWARD, spd); analogWrite(RIGHT_MOTOR_BACKWARD, 0); }
else if (reverse == 1) { analogWrite(RIGHT_MOTOR_BACKWARD, spd); analogWrite(RIGHT_MOTOR_FORWARD, 0); }
}
else /*if (i == RIGHT) //no need for condition*/ {
if (reverse == 0) { analogWrite(LEFT_MOTOR_FORWARD, spd); analogWrite(LEFT_MOTOR_BACKWARD, 0); }
else if (reverse == 1) { analogWrite(LEFT_MOTOR_BACKWARD, spd); analogWrite(LEFT_MOTOR_FORWARD, 0); }
}
}
void setMotorSpeeds(int leftSpeed, int rightSpeed) { void setMotorSpeeds(int leftSpeed, int rightSpeed) {
setMotorSpeed(LEFT, leftSpeed); setMotorSpeed(LEFT, leftSpeed);
setMotorSpeed(RIGHT, rightSpeed); setMotorSpeed(RIGHT, rightSpeed);